If you want to get to/from events at anything like more than 50mph then get them balanced. As fridge says they do enough damage to the truck anyway, unbalanced they will just wreck it even faster.
Mine have more than a few pounds of lead on them (they come in 1/4pound sizes you know) but even if one was to get knocked of its still better than no balance at all.
And I'd beg to differ about over inflating them on the highway. I run mine at what I judge to be corret pressures and have now exceeded 15,000 miles on them. Fornts are looking well tired but backs are still good. Overinflated will just cut the centre out in no time and make them skittish.