I think it depends on a lot of factors. How good your car's aerodynamics are, whether there's a head or tail wind, the type of semi you're following. I think the only way to really tell is to do it in a car with a sensitive fuel consumption display, but that still wouldn't tell how your car will do.
Even with the Insight, "drafting" (by which I mean being behind a semi at what is standard separation on California freeways) sometimes gives me a 30-40% jump in mpg, but other times doesn't seem to have any effect at all.
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