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In the auto I let the logic decide, but in the manual I instinctively follow pretty much the same logic. Much of it depends on the speed and topology. If it's flat and I'm not under acceleration then it's as low as it can be without lugging.
It's one of those intuitions you gain over years of driving and working on cars.
I really don't pay attention to the tach as much as I do feel and sound.
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