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I routinely drive in 5th gear on city streets in the range of 600-1000 RPM and have had no issues. The problem comes in high load situations at < 1000 RPM's. In this situation the oil pump may not provide enough volume to maintain the film that protects the engine from excessive wear. At higher RPMs under high load the lubrication is not really a problem.
The other part of it is pinging/detonation issues. Back in the days before computer controlled ignition you would have to worry about "lugging" but in modern engines with knock sensors and O2 sensors you really never have to worry about ignition/fuel related problems.
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