If think about the basic physics. A vehicle assembled to carry and transport heavy load safely, all ways have a rough ride when empty. And the tire pressure rating on the tire is based on the tires load capacity. I.E. - Load capacity 3500 lbs.@ 45 psi. So tire capacity is one and three quarter tons. With tires at 45 psi. The maximum pressure is based on max load and that is to maintain the correct tire profile. That affects handling, tire heat through friction, and braking.
If are not carrying heavy weights or any significant loads try using 35 psi in your tires.
Buy a good ( trustworthy, quality, reliable, will survive abuse ) tire gauge. None of pencil plastic crap pen things. Get decent dail gauge with hold and release reset.
My uncle picked me to drive to Reno air race in 87 suburban , leave get gas. Hit the road.
Ok something is wrong, this thing bangs into every crack, seam, and pebble in highway. My fillings are coming loose.
Stop for burgers. Get tire gauge out of my toolbox. WTH, 40 to 45 in tires. Air down all to 33. Don't say anything. Rides a lot better, like a sub' should.
And sure my K3500 rides smother with a yard of gravel, or eight hay bales, ten bags of quicrete, it's where it's happy place is. It's a truck, you live with it.
There are things and techniques you can use to make a little more comfortable. It won't ride like a Cadillac CTS, and the CTS won't pull your toy hauler.
Good luck.