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I have a long bed soft cover and drive mostly highway. It seems like I get slightly better mileage with it off but not much different. I like it so I keep it on. I like the fact I can leave things in the bed of the truck and no one bothers it. It's the out of sight out of mind thing since a soft cover offers no security. So after all that if you like it leave it on if not take it off. I don't think it's going to make enough difference in mileage to change your mind.
id take it off anyways cause it sounds like you dont want it on there anyway the reason i took mine off is cause it had become a pain in my rear. just average a couple 3 or 4 tanks of gas mpg together than have a buddy help you take it off then average a couple 3 or 4 tanks of gas mpg together that way and see which way is better.
Mythbusters tested some covers, and did find slight increases in economy. I would have one just for the fact they look cool, and it keeps people from taking you stuff.
Mine broke and the wind caught it one day and then it sxratched the driver's door. $500 down the drain plus the door needs work. Wish I could paint flames good enuff. I could cover a lot of scratches and wouldn't need color natch. I vote don't have one.
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.