Rene, In my experience the most obvious sign is the noise the tire makes in contact with the ground and it just sounds off. Also the immediate and troubling sign is a lack of confidence when cornering, a feeling as if the bike could easily lose traction and spill over when cornering tight because of a bad contact patch with the road. There's also just a feeling of a loss of control when cornering, like the bike won't track and respond the way you want it to. I agree with Jan Heine's advice of filling them just until they won't "collapse" or have any of these symptoms. I feel like the minimum pressure is a threshold that once you barely cross it, nothing matters. But being under it, you quickly notice the disadvantages.
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