You know the same thing just happened to me this week. I have no feedback devices in the car for mpg but check on fill ups. I noticed about a 6mpg drop on average recently and couldn't figure out why. Then I saw one tire was around 18 psi and the rest were 38 or so. Put all at 44 again and only got about 3mpg back.
You'd think the nice tire wear on the edge of the low pressure tire would have given it away too. Definitely will be more observant from here on out.