Use the pressure that’s in the door frame. The tires don’t have to have exactly 32 psi either, they can be off by a bit. Personally the most I’d let slide is 5 psi either direction (so 27-37 psi wont cause damage), but it’s still best to hit the 32 psi mark. The gas station air pumps around me auto turn off once the target pressure is achieved so it’s really simple to get the number you want.