As ever 'it depends' ...
OK, mostly on road, but fully loaded, empty with just a driver, towing a trailer etc. I'd suggest anywhere from 26/28 psi to maybe 36/38 .... to suit however you drive and whatever you do with the vehicle. A lot also depends on the stiffness of the tread and sidewalls. If you're worried, have a few drives under varying conditions and varying loads and different pressures, see what works for you.
Or, read the owners manual for loadings and pressures ...