Usually air down to something in the order of ca.12 psi for "general air-down purposes".
However, as many of the thread articles above correctly state, it all depends on a number of factors.
(weight of vehicle, weather conditions, road conditions, age / dimension / tread depth & tread type / tire composition / type, degree of "ride softness" required, driver experience, etc.).
Driving in Norway an Iceland in winter, its good to reduce the air and gain a larger / softer footprint with each wheel.
Each occasion is unique, but a general air down to ca.12 PSI seems to work fine in most cases.
Driving over sharp lava in Iceland, we sometime go down to ca.8-10 PSI
Not had any issues with it to date :)
I have even seen air down to ca.2-5 PSI when driving on soft / slushy snow and glaciers.
I think common sense plays a key role in this decision.
If you have taken too much out, you can always refill (as long as you have compressor / air source)
Instinct and gut feeling also play a key role - if it doesn't feel quite right, adjust and try again.
And when the road conditions have improved / back to normal roads, re-inflate your tires ASAP.
Don't keep running on deflated tires on normal roads or at speed - it will significantly damage the tire and could cause potential accidents.
There are a lot of interesting and informative articles on the internet covering this subject,
but nothing beats the realtime experience.
Happy Driving !