In my limited experience, 3.73 is probably going to be the best compromise with the 4.0 SOHC for combined city and highway driving and will give a little bit of a bump im mpg.
3.55 is a better highway gear and will perform best there for mpg. At least on paper.
Going from 3.45 to 4.10 on a truck netted zero change in mpg for the 2.5 Lima but get up and go was vastly improved. The poor little engine was being over worked in the hilly terrain here and couldn’t get out of it’s own way.
If you are doing more stop and go driving, the 4.10 might be a better match but that gear ratio is looked at as more of a towing, hauling, and off road gear with stock 29” tires on a 4.0 SOHC Ranger. It might be a little much for you since you are running a smaller tire and you are on flat terrain. 3.73 might be a better match for you as a result. Take a look at the gear vs tire chart in the tech section and look at the gear ratios for the tire size you are running to get a better idea what is what for the different ratios.
As another example. The 3.73s that came with my 2011 were ok with the terrain around here but is a bit anemic once I put the 31” tires on. 4.10 will put me back where I was. 4.56 will put me in the tow/haul/off road range. MPGs will go back to where they were with 4.10 and will stay about the same with 4.56 with more get up and go.