On Topic
The "old way" was to drive with a vacuum gauge in the cab and keep the needle in the green, yes I'm that old. Basically you learned to keep your foot out of it and and eventually, by watching the needle, you realize that OD is not always gas-friendly.
I've got a mild 2" suspension lift and run stock 265/70R16s. I know this was the stock size on my truck because the factory spare is that size. I drive a mix of city, highway and long distance. Like has been mentioned in this thread, I do my maintenance. I keep my fluids and plugs fresh, used NGK plugs and wires, consistent tire pressure, and clean my MAP and air filters with cyclical regularity. I get pretty consistent gas mileage too, and I know that my driving style has a lot to do with it - both in how aggressive I drive and how much stop driving I encounter.
My Average MPG
City MPG is 14-17 (stop and go BS)
Highway MPG is 16-19 (this is more of a mix of city and highway)
Long Distance MPG is 19-21, sometimes more if the wind is in my favor Lol
I drive from LA to Reno once or twice a month, that's 468 miles door to door one way. The longest single stretch I do on one tank of gas is 323 miles from Mohave, CA to Gardnerville, NV. I used to sweat stretch that but not anymore.
For me the trick is cruise control. I set my cruise at about 2,300 RPM (which is around 73-75 MPH) and my downshifts take me to around 3,400 RPM on hills. I click OUT OF OD on all hills; both up and down just like driving with a vacuum gauge taught me to. Why? Because OD on a hill is allowing power to literally slip through the torque converter, and your transmission works harder because if it and gets hot. Driving with a trans temp gauge will show you this and will actually help you use fuel more economically if you favor your transmission, and let a few smaller cars pass you on uphills, if your ego will allow it.
Other than adjusting your driving style and giving your vehicle what it needs, the only other thing you can do is lighten your load and remove excess weight and drag from the vehicle. It takes more power to pilot a heavier vehicle around and that cost of that is more fuel. Don't be surprised that your heavily armored crawler is a gas hog. Don't be surprised that your 6" lifted rig on 35s cuts through the wind like a brick through jello.
There is no preach in this piece, just my experience. Sharing is caring

ainkiller: be careful out there.