Under normal conditions (home area & no hurry), I refuel when the fuel light comes on. That's what the light is for, right?
My road vehicles can both go at least 60 miles after that light comes on, and I've never had a fuel pump issue when running the tank until the light comes on... or for that matter, a fuel pump issue of any kind. And usually I refuel on a Tues or Wed just to avoid the weekend price spikes. On a road trip, I refuel around 1/4 tank... who knows when the next services will come.
