You can do a quick test on it.
1. Fill up your tank to max
2. Drive for 50 miles normally in S mode. Fill up and see how many gallons you used
3. Drive for 50 miles normally without S mode. Do the same step 2.
Personally I find using the S mode will decrease the mileage, but it really depends on if you do a manual rev-match when you downshift or not.
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