More tyre pressure = less flexing of the rubber as the flat spot moves to meet the pavement. Less flexing = less energy needed to constantly reshape the tyre.
If your tires are now in the low 30's psi range, you definitely have the possibility of gaining mpg by increasing the pressure. My first suggestion would be to pump the tires to whatever is imprinted on the sidewalls, and see how you like the handling and the um, seat comfort. I'd guess that handling will improve, but you will have to see how it plays out on your car.
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Coast long and prosper.
Driving '00 Honda Insight, acquired Feb 2016.
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