There's certainly a difference. I usually drive the speed limit so as to not hold up other cars (although since nobody here follows the speed limit, I still find myself getting passed quite often), and I get about 4-5 mpg worse gas mileage on I-69, where the speed limit is 70, compared to I-465, where the limit is 55. Of course, the difference between 52 and 55 will be much less drastic, but there should still be a slight difference, assuming both are running at the same gear (as you said they are).
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