Cruising, I usually upshift just after 2K; higher, natch, if accelerating briskly.
The gears seem to be matched to MPH quite a bit -- I find 4th will automatically downshift at low speeds and below 2K, where as, say, 3rd and 5th are far more forgiving.
A lot of it is just getting used to what speed vs RPM vs gear for downshifts -- when coming to a stop, if fairly quickly, I will skip 4th entirely and just actuate two shifts so I'm rolling to a stop in 3, then blip to 2, and then 1 at under 5 mph.
Alternatively, you could let the ECU handle down shifts and you just control up until it feels more natural.
Note that the ECU learns your shifting habits, so it may feel a bit quirky in D for a few days after rowing through the gears manually.
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