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As a hardcore car guy, my advice to you is to drive it. Get a really good feel for the car to the point that you can tell the RPM by the sound.
Some motors need to be taken much higher in the RPMs than others. A k20 in an RSX Type S as an example, you'll want to take up to 3100 RPMs before you shift it from gear to gear, and generally around 2700-3100 from your 5th to 6th shift.
In a Terminator Cobra (03/04) as an example, you'll take it to ~1800-2200 RPMs between each gear shift, and probably right around 1900 for the 5th to 6th shift at highway speed.
That being said, you don't have to use 6th, and it isn't going to hurt the tranny going from 6th to 4th or 4th to 6th. In my '02 GT (5 speed) I cruise around in 4th gear all the time daily driving until I get up to 50ish, then I'll use 5th, its factory gears are long enough to make that work for me.
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