You don't say how many gears you have, or indeed whether it's petrol or diesel.
1800-2000 rpm sounds a bit high (at 30mph) for a diesel, I aim for an rpm range of 1500-1600 @ 30mph in my turbodiesel - the torgue curve is getting meaty at this point & the car pulls cleanly, without any labouring/shuddering.
You say 'working harder' - in fact it's the opposite - it's working 'easier' as the torque output is higher at that higher rpm & so the engine easily copes with the gearing load.
I agree there seems to be a fetish about getting into a higher ASAP - wrongly in my view - as an aid to economical running, quite often the opposite's the case.
My car is geared for ~35mph/1000rpm in 6th - too high to feel comfortable for anything less than 70mph cruising in my view. Quite often I'll cruise in 5th @ 60mph with puts the rmp range in the torquey & unstressed 2000rpm band.
If you have an instantaneous fuel consumption read-out, try cruising at 50-60 mph & compare the rates between top gear (whatever that is on your car) & the gear lower. I doubt you'll find it using more in the lower gear & you'll certainly have more in reserve for speed changes & a less stressed engine. All IMHO, of course.
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