You do if you want to keep them at a specific pressure.
When we race motocross you want the tire at 12psi. In the morning when morning practice happens I will double check them at 12psi. By the time your races happen they climb to around 15psi as the day warms up. I’ve seen them as high as 17psi before bleeding them down.
Car and truck tires will be no different. Nitrogen filled tires may experience this less.
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