Needed tire-pressure is all about the load on the seperate tires.
Per axle the pressures are kept the same by rule, but the weights R/L can vary especially for motorhomes.
So If you can produce the exact as possible weights on the seperate tires, or at least on the axles for the 2 situations, when towing and unloaded, I can calculate a save pressure with some reserve , wich gives still good comfort and gripp.
I use my motorhome tire-pressure calculator for that , in wich I use my own formula , wich takes care that the deflection of the tire stay the same over the whole pressure/loadcapacity range, wich is the goal of all the calculations. Also I add a reserve depending on what you give ( gawr's or real weighed loads)
Will give an example picture here , I used for another, where I used all 3 parts of it , to show how far we can go.
Mayby the pressures for fully loaded can be lower, and low enaugh to not give bumping when empty. I dont expect it , but that then would be ideal, so you dont have to chache every time.