I'm sure it mostly depends on how efficient your vehicle is to start with. I have never noticed any difference with headlights on or off, even high beams. I have tried looking for a difference too in mpguino readings, but none. I get my best mpg at night anyway because I slow down a little more, not just for mpg but also because the deer are harder to see.
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Winter daily driver, parked most days right now
Summer daily driver
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