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Yes.
Half of my drive from rural east Texas to Dallas is rolling hills (up and down 100 ft or so) and half is very flat. I get better mileage in the hilly section.
This is true even in the family van with its automatic transmission. It's harder work on that, because you have to minimize downshifting on the climbs, but even with some of that, it's more efficient than the flat land with steady speed.
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11-mile commute: 100 mpg - - - Tank: 90.2 mpg / 1191 miles
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