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The benefits are more than just aero. There's faster warmup times, warmer tires, hotter air charge, and less frequent rain.
It is not necessary to concern yourself with viscosity. Aerodynamic drag varies linearly with air density. Without a datalogger, it's difficult to know how much energy you spend overcoming aerodynamic drag, versus inertia and rolling resistance, but you can use the Tools -> Calculator link at the top of the page to concoct an estimate for steady-state driving (zero inertial loads).
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