You bet I lower the rear tire pressure when I am not towing / hauling... door pillar says 75psi - for maximum load/towing. When the truck is empty that pressure gives quite a rough ride.
I don't change the air pressure daily. If I am going to be doing a lot of towing, I keep them aired up. If I will be empty for awhile, I air them down a bit - usually to 65psi.
A lot of different information out in the internet, but I check tire pressures in the morning, when the tires are "cold". While traveling I keep my eye on them, and check them if something looks off - but I don't air up or down if all the tires are roughly equivalent pressure.