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Set your cold starting pressure and then check your pressure after the run. If the car ran fine don't touch anything. If you want to tweak the handling make pressure changes based on the warm temp (autocross tires never get hot) by bumping or reducing the warm pressure by 1 lb increments. If you happen to be autocrossing at a course that is consistent from one event to another (like a Go Kart Track) when the tires cool down after the event check the pressures and write them down in your notebook and you will have your starting cold pressures for the next event.
Bleeding a warm tire down to the original cold pressure between runs doesn't work if the original cold tire pressure was set correctly.
One way of getting the correct pressures for the next run is to adjust them with the aim of having all 4 tires at the same warm pressure after a run. That indicates that all 4 tires are working equally which is the best you can hope for.