At 20-40 mph, I just shift to D, let it settle a moment, and go. RPM is low so there's little stress to the system.
Above that, I give a little gas to put the rpm where it will be after the shift, then shift, settle, and go. There's very little bump when you do this.
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11-mile commute: 100 mpg - - - Tank: 90.2 mpg / 1191 miles
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