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Wouldn't it be best to shift so that you are using your engine's "Island of Efficiency"?
I found my Insight's island to be between 2000 - 3000rpm, so I'll shift at 3000 for first and second gear, and the revs drop to about 2000. By the time third gear gets to 3000, I'm moving fast enough to shift to fifth. So 1,2,3,5 for me.
*I'm not using my hybrid battery though.
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