I don't know for your particular case, but in my gasser TSX, idling in top gear is much more efficient than using a lower gear and giving it some gas. Generally speaking, being in the tallest gear possible to maintain your speed is the most efficient way to go. This should be no exception.
My Cummins will idle at 900RPM and hit 25mph. It's an automatic, and I don't know what gear it chooses to putt around in.
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