I get pretty close to the EPA numbers myself. Fuel mileage goes down alot on the highway if you drive over 75 mph though because of the short final drive ratio (4.30:1)
If you drive under 75, and you don't roar around town in 2nd or 3rd gear then you will get close to the EPA numbers to. Just drive sensibly, upshift early and you'll get 30-35 mpg consistently.
Tercel626: Why on earth would you warm your car up for 3-5 minutes? Do you realize it only takes 30 seconds to get the engine oil circulating in normal temperatures and maybe a minute and a half tops when it is very cold out?
What you're doing is actually BAD for your engine. it's a good way to cause carbon buildup. Read you owners manual or ask anyone who really knows about cars. The BEST way to start the engine is to warm up for 30 seconds, then drive off gently. The little blue light on the Scion is a coolant temperature indicator, it has nothing to do with the engine oil. All that is, is a polite suggestion to drive gently until it goes out, not an invitation to go back in the house and have a sandwich and a coke and read a newspaper while your car idles outside.
Just some friendly advice though. Stop doing that. It's worse for your car then if you let it warm for 30 seconds and just drove off gently, trust me. Idling for long periods is bad.