Not to be a smart-alek, but proper inflation is an absolute must.
If you are afraid of putting air in the tires, just think about the physics of losing one due to improper inflation.
I lost a friend years ago to a tire explosion. He owned a tire/frame shop and was putting an SUV tire on a rim. The explosion cut him in half. Really ugly. But the investigation also showed something comforting. The tire was rated at 36 lbs. the shop air system was 150 lbs. The inquest showed the tire didnt fail until more than 125 psi was in that 36 psi-rated tire.
It appears there is a HUGE safety factor engineered into these things.
"You can finally say you have enough horsepower when you leave two black streaks from corner to corner"
(Mark Donohue, famed TransAm driver)