Make them all the same size. Put all your tires at 5psi. Take a fabric tape measure or a length of rope and wrap it around the middle of each tire taking note of the circumference until you identify the smallest diameter tire in your set. Then air down the other tires until they all match it's diameter, a length of rope with a sharpie mark works well for this. As you reach the desired diamter, write on the inside of each rim the required air pressure to get that diameter. Some tires may have 3psi, some may have 5psi, etc but they will all be the same diamter.