Like others have said, you really need some axle weights to know for sure. I can give my Van's specs as an example. On a recent trip we weighed in just shy of 8k, about 3700 front and 4200 rear.
Our tires have a max load of 3200 at 80psi. So 3200/80 gives you 40lbs per psi.
So the front tires (3700/2) carrying about 1900lbs each get 47.5 psi.
The rear tires (4200/2) carrying about 2100 each get 52.5 psi
I do prefer to add a little safety factor so I ran 55f 60r. I think the higher psi also helps on the highway which was predominately what we were driving.
So my gut says you're a little low at 55f 60r if you really are around 10-11k loaded.
You can also see if you can get a hold of a tire inflation chart like this
https://www.toyotires.com/media/pxcj...s_20200723.pdf
One big difference compared to the math I did is that the load and PSI relationship isn't linear. For example, the difference between 80 and 70psi is 195lbs of load, whereas the difference between 50 and 40psi is 400lbs. Also, 40psi is about 400lbs higher rated than half of the 80psi rating. So according to a chart like that, you might be closer than I give credit.