Depends on the bike ... big difference between a Tenere' 1200 and a TW200.
I generally start off with manufacturers recommendation on pressures ... then for gravel roads ... go DOWN a few PSI from there. Never go by what the tire says on sidewall. That is MAX allowable PSI at MAX load ... so never use that figure.
On my DR650, (weighs 380 lbs. fully fueled and loaded) I generally run
around 15 PSI front, 18 PSI rear on easy two track and gravel roads.
Suzuki recommend 22 PSI front, 25 PSI rear for one up street riding. Add about 3 PSI for Two UP rinding.
For off road, one up, they suggest 20 front, 22 rear.
I go lower for better traction, control and better braking on steep downhills.
Works fantastic on either TKC80's, D606 or Michelin T-63's. Never used Heidenau tires.
In Baja where speeds are HIGH and lots of embedded rocks ... I go UP on pressure ... back to stock or near stock. In deep sand, I go back to the lower pressures.
So the answer is ... adjust pressures for conditions. The Heidenau's are really good and really TOUGH tires, with good stiff sidewalls.
My guess is you can run quite low pressures and never dent a rim in rocky conditions.
(I've dented rims twice in Baja ... from riding too fast in rocky areas. All my fault)