Pretty standard approach to dialing this in, and yes your F and R pressures are a bit high.
First, on flat ground check and adjust front cross level, you should be able to easily get in within 1/4". One turn on one torsion bar bolt will lift/lower that corner approximately 1/8". Engine doesn't need to be on for cross level check/adjustment. Wheels on the ground, if the TB bolts are really tight you can raise to H to take some preload off. Use penetrating oil liberally if they haven't been adjusted in a while. Breaker bar doesn't hurt either.
Second, measure all four corner heights at N with engine running and AHC settled. If you have 19.75F and 20.5R hub center to fender bottom you are very close to stock spec height. Adjust height sensors if necessary, engine off, to avoid potential injury.
Lastly, hook up techstream and check pressures, same number of CW turns on both TB bolts to lower pressure, one turn (on both bolts) will lower pressure about 0.2MPa (CCW to raise pressures). Target front pressure is 6.8 - 6.9MPa. All you can do for the rear pressure is to ensure you aren't physically too high and then you may need to add 30mm spacers to get the pressure down a reasonable amount or ideally, new AHC coils AND spacers to get the pressure down to the lower end of its design range of 5.6 - 6.7 MPa. Expect a small variance in the front height sensor height values, if they fall within say 0.3" from 0 there isn't any need to tweak them. Best just to see how it all plays out. Additionally, lowering the front pressures also has a positive effect on the rear, and vice versa.
I know the FSM says to adjust pressures with full tank of gas etc etc well lately I've been adjusting pressures with the vehicle set up how I normally drive it and that's with 2nd and 3rd row seats out, 1/2 tank gas and my tool box, myself in the drivers seat. I just think it makes better sense that way. If I'm loading up for a trip I readjust TBs as necessary, it only takes a minute.
HTH