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It was actually more of a question when I had a Kia forte
Now vw Jetta is much smoother and rpm don’t change much whatever I do
Your question is roughly analogous to, "What shoes for dancing?" with no additional context.
Both a grade, or a significant wind change the answer to your question, but in general, less fatigue, but lower mileage in the lower gear, but better mileage with more fatigue in the higher.