3.73 would be better, yes.
It's about a 10% decrease in RPM over a 4.10 gear set, so if you normally cruise at 2k, you'd now be cruising around 1800 RPM.
Then if you go from 3.73 to 3.55, it's another ~7%, so that brings you down to 1675 RPM, which is getting really good. (Loose math, and that's only correct if you cruise at 2,000 already.)
Check your brakes and make sure they're not dragging at all, too.
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