The rough rule of thumb for ideal gases, like air (or nitrogen, which is very similar to air which is about 78% nitrogen and 21% oxygen), which follow the PV=nRT relationship, is for every 10C change in temp, there is a 3.7% change in pressure (or for every 10F change in temp there is a ~2% change in pressure), as calculated from Gay-Lussac's Law for ideal gases (in a fixed volume, closed system, like a tire), which says that P1T1 = P2T2, where temperature is absolute temperature (in Kelvin). Specifically (solving for P2 when the temp has changed), at 0C, which is 273K, if one has ~30 psi tire pressure and the temperature goes up to 10C (or 283K or 50F), then the pressure will go up 3.7% (283K/273K - the calc has to use Kelvin) to about 31.1 psi and similarly if the temperature drops to -10C (or263K or 14F), the tire pressure will go down 3.7% to about 28.9 psi.
So within a season where temp usually doesn't vary more than +/-10C (like 14-50F in winter in these parts), there's really little reason to adjust one's tire pressure if one has been doing so periodically through the year. However, if the last time one adjusted the tire pressure was in summer, say at 40C (102F) on the hottest day of the year, then at 0C, months later, that pressure would've dropped about 14.8% or 4.4 psi to 25.6 psi if it was 30 psi at 40C/104F.
So
@DJ Spanky is absolutely correct that one probably has lost 2-6 psi pressure if one hasn't adjusted the tire pressure since it was fairly warm out and one should adjust their tire pressure now. If one adjusts tire pressure 3-4 times a year or more (especially if one has a slow leak), then that's likely all one ever needs to do. Just thought I'd share the science of it all.
@zappaa - going from 32F (0C/273K) to 60F (16C/289K) will raise the tire pressure by 5.9% (289/273) or about 1.8 psi if originally at 30 psi and typically, less than 2-3 psi difference in either direction isn't going to be a major issue for performance.
Lastly, nitrogen for tires is a giant scam. Air is already 78% nitrogen (almost all of the rest is 21% oxygen and "nitrogen" for tires is usually only about 95% nitrogen, not 100%) and most of the purported advantages are complete BS. There is a very slight advantage in maintaining tire pressure, over a month or more, but certainly not worth the cost, especially since it's pretty simple to top off tire pressure every month or two with free air. See the link below.
https://www.edmunds.com/car-maintenance/should-you-fill-your-cars-tires-with-nitrogen.html