My car is perfectly happy shifting at low rpms and it loves high rpms too. That is one of the things I like about these engines, they are so linear.
I was cruising in town the other day at 35 mph and pushed down on the gas, car accelerated fine, then I looked down and noticed I was in 6th! Unbelievable how smooth and how much power is available even at those low rpms.
I think the dealer that told you above 4k rpm just wanted to help sell the car. I would say you don't want to "lug" it by always being in too high a gear on a regular basis. But beyond that, these cars are made to both drive subdued and sportier high revving driving, so both should be fine. People often say that is one of the things about boxsters and 911s is that you can use them every day compared to some of the more high strung cars.
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