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Higher and higher gearing can be overdone. Just try driving the 5 speed in top gear at 35 mph and see how good of mileage you get. While the rpm's may be construed as "high" (relative to what....) the engine is not working hard/manifold pressure is low. Granted it is a balancing act, and in theory I'd like a 10 speed to play around with, but I don't sweat not having a higher gear in my Yaris as much as I do not being able to open my rear windows!
I've seen different airplane drivers fooling around with ground adjustable pitch props, going coarser and coarser (like higher and higher gearing) hoping and getting lower revs at a certain cruise speed, but you reach a point where the economy doesn't improve past a certain point. Let's face it the Yaris is a inexpensive car, so the engineers' split the difference, a 5 speed instead of a 6 is one of those compromises. If you are obsessed with lower revs at a certain speed, it would be more practical to get larger tires and wheels. Keep in mind they'd weigh more and raise the vehicle thus more drag, probably canceling out any gains in MPG.
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