Yeah, most people are shifting way too early, even with engines that develop their power lower in the RPM band. I think it's a worry about burning more fuel than they have to, not realizing they are burning more fuel lugging the engine because they shifted early. Like mentioned above, 3,000 - 3,500 on a 3.0 is a better RPM to shift at and won't negatively effect mpg. It might actually improve some.
As far as the double clutching, that is really only needed on transmissions that don't have syncronizers in the transmission. Outside of heavy and some medium trucks, the majority of transmissions have synchronizers in them, after a certain date, which goes back pretty far. Like 1950s or 1960s time frame.