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Hilly terrain and stop and go is going to be a challenge with an auto. AC can be a MPG killer, but "necessary" for family. Modulating the ac (e.g. turning it off and on) is a bit of work but if you run it downhill and turn it off uphill you can save fuel and keep the cabin cool. Keep the temp control on "cold" if you turn it warm it just uses the blend door to heat the cooled air with the heater core.
I don't know the weight distribution in the highlander, but I usually run a few psi less in the rear as it is lighter to get the tires to wear evenly.
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