Yep In my 04 Mercedes I have been able to save about 1-2 MPG around town because i could upshift earlier and leave it in a higher gear longer. And my wife gets about 3 MPG better when she manually shifts her Touareg, But that's because otherwise she drives it like it's a Nascar.
So as long as you have the patience to pay attention to it then yes it can be beneficial
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Tank:
(No actual EPA numbers for car just used F/E numbers when i first got it)
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