I tend to go with the higher TP. I believe that the whole Explorer/Firestone Fiasco was the result of Ford recommending TPs that were so low (for ride comfort) that any inattention on the part of the owner would allow them to drop into the damage zone, followed by blowout and rollover.
Here's a comparison of my '98 Ranger pickup and a '99 Merc Mountaineer (same as Explorer); all three vehicles are built on the same frame and have pretty much the same equipment except for body styles and max engine (V6 for PU, V8 for SUVs), in fact, the Merc has the V8 and more equipment, yet the TPs are lower for the same tire on the SUV (which has a larger GVWR!). Ford wants 30/35psi on front/rear of truck and 26/26 on SUV; the tire itself says about 40psi max.
I make the presumption that the PU's difference from front to rear is because of load in the box.
However, one should always balance the need for higher pressures for mileage and tire coolness to the need for lower pressures to avoid damage -- Hard tires
are more easily damaged than soft ones when on bad, rocky roads, as one can prove to oneself with some balloons.