Just an FYI:
I spent 5 years as the technical liason from a major tire manufacturer to Ford - calling on the light truck folks.
They test their vans, pickups, and SUV's both fully loaded and empty at the specified pressures (the ones on the door placard) for both ride quality and handling. They adjust the springs, shocks, and sway bars to get the vehicle to behave benignly at both conditions - that way the consumer gets a vehicle they don't have to adjust the tire pressures to be confident the vehicle won't misbehave in emergency manuvers and has a reasonable ride quality.
They also tested their trucks pulling trailers at the rated towing capacity.
I assume that other vehicle manufacturers do the same.
So I am confident that using the pressure specified on the vehicle tire placard is what they had in mind for both fully loaded and empty vehicles - unless they specify otherwise in the owners manual.