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Do not base your decision to shift gears on

A The actions of the vehicle next to you
Explaination
One way to know when it is time to shift gears is to learn your vehicle's operating rpm range. You should shift up when your engine reaches the top of that range. You can also learn which speeds each gear is good for and shift up based on your speedometer.
B The speed of your engine (rpm)
C The speed of the road (mph)