There's no best RPM to launch at, and it depends on a ton of different factors. I find I get the quickest launches when I hold it at about 3k-3.5k and allow almost no wheelspin. On my little accelerometer I get consistent 5.1-5.3 0-60's with that and 5.7+ when I just drop the clutch at just about any RPM. The trick is basically getting your car to no wheelspin, clutch fully out, and revs above 3500 as quick as possible. If the clutch is completely out by that point, you have very little power and will have a terrible launch.
For reference I am stock except for Michelin Pilot Sport tires.
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Range Rover Sport Supercharged
Nissan 370z Touring + Sport
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