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Hydrogen is king with the best energy density, the best combustion result and the widest air/fuel ratio. However, it's reasonably impractical.
Consider BSFC for a bit, that is HP/HR/Lb of fuel consumed. BY WEIGHT, diesel and gas are closely matched. Not by gallon though.
E-85, can match modern diesel BSFC in specially designed engines. In other words, overall thermal efficiency can be excellent surpassing 45%.
But, the bottom line is and has always remained the same. Gasoline is very hard to beat for overall use.
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