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I usually shift around 2700, but take it to 3200-3400 once or twice a day.
I second Fat. My psd gets cleaned out once or twice a day. On a bad day, like after I hear about bad news, she'll see that all day long. The truck takes it and asks for more.
My 2000 F-450 is a ZF-6 (only one, rest are autos....and I'm pretty much the only one who drives it). I normally shift in the 2200-3000 RPM range, all depends on traffic, and if I'm loaded heavy or not.
No way in hell I'll shift at 2000rpms when I come off the scales at 26,000lbs........I'm normally just under 2000rpms a lot of times as soon as release the clutch in the next gear.
The truck has 4.88 gears....so my RPMs get high quick, and I push higher rpms at speed.
It depends on if your towing or driving empty. It depends on if your looking for better MPG's or better power. All of the above posts are correct. The one thing they forgot to mention is it also depends on which gear you are shifting in to (or down to). The RPM change is not constant between each gear.