RE the 5 psi thing. That is the mfgs catch all clause to keep from potentially pinching the bags under full suspension compression. IE idiot clause.
If you can fully bottom out the suspension on an empty HD truck then pinching your airbags is the least of your worries.
Vacuum pulling the bags apart is laughable.
Last truck and current truck almost 10 years combined with cheap no internet bumper bags. 0 psi empty. Hell, 0 psi even with 1000lbs ish load on the rear. Above that air pressure commensurate with the load that needs to be assisted.