My two cents ( I think that is what my Canadian dollar is currently worth to your American dollar) is that I try to avoid running on fumes.
Also read that on average, vehicle manufacturers have a '' You about to run outta gas, you moron!'' safety factor with a two gallon reserve when that yellow Low fuel light comes on.
Trust me, I've had my low fuel light comes on dozens of times per year as I live in the most expensive city in north America to buy gasoline for your vehicle (Vancouver Canada....do a Gasbuddy search. ...$2.09 to $2.21 per liter now).
But I don't push it , my 2.5L /4cyl. Japanese SUV with Auto in fwd mode I think gets about 20 mpg city/ 26 mpg hwy (when new), my engine is very clean, fresh fluids/filter/transmission fluid clean, no accurate scientific testing on what i'm actually getting, it just does not feel like a gas hog for something the size of a rav4.
If i'm having a quiet day and not much going on, I might drive locally in my city to my library or grocery store and back with the yellow light on, but eventually I will go put in $15-$20 of fuel in the truck. If I know I have places to go, it will be either half or a full tank.
I have not been on any road trip for at least ten years, but whenever I did, I filled up in the morning before I left and where I was going was 400-500 klms away, I know I could make it on one full tank, regardless i'd pull over if I was at the 1/4 mark, especially because gas was/is always much cheaper further from my city And i'm driving thru the mountains, long stretches of nothingness/ no gas stations between little towns . Lately i've been carrying an empty 5 liter scepter Jerry gas can in my rear cargo hold. I was thinking Incase I did go somewhere further out past the city limits and I really did run outta gas, maybe I could flag another motorist down and get a ride to the nearest gas station. I could fill it, prior to going anywhere, but i'm 99.9% in the city. And I'm trying to avoid the smell of gas fumes in the cabin or risk of fire, etc.