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It definitely won't harm anything as long as you don't lug the engine much. However, for best fuel efficiency its best to keep your rpms around 1500-2500 and skipping gears will likely put you out of that range. I always use all my gears to accelerate. I will skip them going down if I am going to use the engine to slow and use fuel cut. I skip them all if I EOC up to a light I know I'll be stuck at a while.
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