I believe term is rev matching, during times without syncromesh (sorry if word is wrong, non english speaker here) boxes it was required to get gear changed (also there was need to double clutch to get box to same speed if I'm not mistaken).
In racing rev matching is needed for smoothness, so you don't jerk balance of car, in normal driving least wear to parts comes when you rev match, idea is to put engine to revs that it will have for next gear, then you can quickly just dip the clutch or even shift without the clutch.
When aiming for low fuel consumption, I believe smoothness is equally important as it is with racing, any strong jolt is wasted energy and adding wear and tear needlessly.
I think that when you can drive smoothly without panic when you don't have clutch or brakes, then you are in a zone of optimal MPG?
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