johnamon:
To achieve 32kHz, I need to divide the system 8MHz clock by 256 (prescaler of 256).
No, you don't need to a prescaler of 256, you need a prescaler of 1. If you use one of the 8-bit counter/timers with its maximum TOP value of 255 (as is usual when using it to generate a PWM signal), then the counter is already dividing by either 256 or 512 (depending on the mode you select), giving you a frequency close to 32KHz or 16kHz.