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I sometimes run 6th gear down to 20 mph. If I'm in stop and go traffic, and on flat road, I might slip into 6th and just let the car idle along. It might dip to 900 rpm briefly, but I maintain 1000 rpm or above generally.
As you said, you aren't accelerating in top gear at low speeds, so all is fine. The stress on the engine is very low at those slight throttle openings.
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