It isn't just the engine, transmission, and differentials, you also need to consider the load and the slope.
On flat ground, I upshift at around 1300 RPM, dropping to 1000 RPM, no matter what weight I have in the box.
If I am on a significant slope, I upshift at 1400 if light, 1500 if heavy.
If I have issues upshifting at 1500 RPM and maintaining speed at 1200 RPM, I downshift and run at 1500 RPM.
HINT...
If you have a instant fuel economy indicator, that can tell you if your engine starts working more or less to maintain speed, even if you are having a hard time hearing or feeling what the engine is doing.