I shift when it needs it,,, different circumstances need different gears! Use your experience to shift, He!! remember when no Harley had a tach? You had to use your ear!
I Dunno, my 09 will pull a hill at 60mph in 6th riding 2up, it aint luggin...as long as its over 2000rpm its good.
I have a '10, as long as I am over 2000rpm, I am good. Now, don't get me wrong, I don't get the response of a sport bike if I twist the throttle in 6th/2000rpm, but it does me fine. I am in to taking it easy and not racing down the road.
If the manual says it's ok to be in 6th at 55, I guess it's ok. I try to keep the tach at a minimum of 2,000 rpm's. 55 mph in OD isn't bad on smooth and flat road.