My 2.0 auto gets between 22 and 26mpg city (depending on NORM or PWR settings on the ECT). On the highway it gets over 30mpg.
My V6 is an absolute gas pig in the city, because I'm not capable of driving it conservatively (if it was an auto I might be able to...)

I get around 20mpg city and 26-30 highway in the V6.
Even if your tire pressure is fine, things like wheel bearings and dragging brakes (and alignments, as mentioned) can affect mileage. Clean out your throttle body.intake plenum; check the EGR for proper functioning. And as always a general tune-up can help a lot.
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1990 5spd V6 Camry (Still kicking at 393,000km) 1991 Celica GTS -- Pappa needs a 3SGTE...and AWD for all this friggin' snow
Honda my A$$, you just can't kill a Yota...