...Michelin always used to quote rear-axle pressures for motorhomes on "Camping" tyres closely in line with those in the Tyresafe booklet. (Historically, I've had several eMails from them recommending much lower than 80psi).
They then switched to recommending only 80psi, whatever the actual axle loading. Continental are still somewhat less conservative.
For most 'vans, this pressure is filling-threateningly jarring, and reducing pressures has for me resulted in much-improved ride and handling.
My last two motorhomes have both been disposed of at 5 years (and around 30k miles) with still years of tread left.
If I were you (if only as an experiment) I would check your fully-loaded axle weights on a weighbridge, and try front and rear pressures as specified in:
http://tyresafe.org/images/tyre-safety-guide/motorhome-leaflet.pdf
...allow a margin if you wish (I do) and then decide if you really need to sort out your suspension.
I'd be surprised if you didn't notice quite a difference.
(as an example, this was a quote from them in the past for 215/75 R16CP (Camping) tyres where the default of 80psi was on the vehicle label.
The pressures that we would recommend based on the loads quoted are as
follows;
> -
>
> Front axle 1850kg - 60psi
> Rear axle 2120kg - 64psi.)
And that was based on the Maxi maximum axle weights - I was running below these, but used the quoted pressures.
I understand they used to "up" the front pressure quote slightly to allow for weight transfer under braking.