I concur for the most part with Daox. There's some trial and error with every engine. My pick up is comfortable shifting at under 2000rpm, my Acura bogs at under 1750, so I usually have to let it get up to at least 2300rpm to 2700rpm before shifting because it has no low end torque. What you want to prevent is lugging the engine at the one extreme or getting into the VTEC performance end of your powerband on the other end. Any time over 3500rpm is just wasted fuel (says a guy with a 7800rpm redline).
Learn to shift early and use a lot of throttle getting up to speed (most engines are most efficient at 55-75% of throttle), then backing off when you reach cruising speed to the lightest throttle position you can use to maintain speed.
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