10 psi is to low for stock wheels. u will roll the tire off the bead if u do anything with difficuty. 12-15 psi for rocks and heavy twisting. 15-18 for service roads or anything with little traction and 18-22 for the sand. i have 2 jeeps that hit the rubicon, 4 dice, ect all the time. i run them between 6 and 10 psi with bead locks,,, with my crager steelies i run 12psi and they burp and hiss all the time on the rubicon. i tow them with my 07 screw fx4. that is what i use with my stock wheels and it works great for me. hope that helps.
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