I usually drive about 55 mph and don't exceed 60 mph. Gas mileage and tire conditions both seem to be maximized that way. Also drive with overdrive disabled (recommended by Owner Manual) to make engine and transmission last as long as possible.
I KNOW I'm in control at those speeds (driving experience has also taught me that - no matter how fast I drive, there's always someone who MUST drive faster - and they aren't buying my fuel or tires for me.).
Happy Camping!