My new/used 4.0L Picks up around 19-20mpg's with mixed driving. its a 2002 4x4 extended cab 5-speed manual with 4:10's and 245/75/16's. My dad has a 2002 FX4 manual with 4:10s as well and he picks up pretty close to the same mpg's with his truck. i was actually kind of impressed with that number when i first calculated the mpg's. my 1998 3.0L with a 5-speed manual and 3.73's picked up 17-18mpgs, so it was a win/win for power and economy.
There are a bunch of simple things to make your fuel economy go up. Keep your tires inflated to spec's, make shure your air filter is not compleatly trashed, keep up on oil changes and fluid changes to keep them up to date, the simple upkeep stuff. another thing is to "power drive" in other words avoid forcing the truck to come screaming out of the hole, take your time and let it slowly get up to speed, and when you come to stops, try hard to "within reason" to do a somewhat rolling stop, when the truck dosnt have to come from being completely stopped it will help your economy as well. also with yours being a newer truck if your 4.0 isnt broke in yet, your going to do worse mpg's, and of course cold winter weather will not help your fuel economy at all. My truck got down to 15-16 in some of the colder weeks this past winter.