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Check your owner's manual and/or the sticker on the driver's side doorsill. The factory recommended pressure for the standard and optional tire sizes (depending on model) will be shown. It'll either be 29 psi (16 inch wheel) or 32 psi (17 inch wheel).

The factory pressure isn't necessarily the 'best' pressure. You might want to play with it a little to get the best combination of handling and comfort for your needs and driving conditions. Just don't exceed the maximum pressure shown on the tire sidewall and only check pressures when the tire is cold.

If you change pressures, be sure they're the same on each side of each axle (left and right side) and reset the low pressure warning system (also detailed in your owner's manual.)

Added: I own a '04 Highlander with 17 inch rims, the recommended inflation in PSI on my door sticker reads 30 pounds, both front and rear.

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Q: What is the tire inflation for a Toyota 2004?
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