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I have a 2013 Mazda3 with a six-speed manual. I just shift up through the gears as the RPM allows. I can be in 6th gear cruising on a boulevard at 45 mph. To get to my house, I have to turn an corner and immediately go up a fairly steep hill. I can be in 2nd up to 25 mph, because if I shift into 3rd too soon, the RPM are too low for the power I need to accelerate up the hill. There are no real rules, its more getting to know your car and what gear gives you the performance/fuel economy balance you want for a given situation.
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