People had no problems running 4.10 gear cars on the freeways in the early 1970's, some screamed-cried when that drive 55 mph came around.
I see 4000 rpms in my 3.91 car at a steady cruising speeds, like wow that does seem a bit high but with my "quiet" exhaust and loud stereo it really doesn't seem to matter, its the motor running that speed-not my legs. Motor seems happy, gasoline isn't too expensive. Passing other cars is a breeze....150 mph it can't go, not even close but it can go easily over triple digits and faster than I see most anybody else going.
55 mph is at 3000 rpms, feels just about right there but is too slow to keep up with traffic so I just grin and bear it, crank the tunes up and enjoy life. Engine keeps working, trans keeps on shifting (not on the freeway, just stays in 3rd gear) burns the gasoline up but the gas stations always have more to sell me (unlike in 1973)