But two things have happened since then, we have computer controlled transmissions and CVTs.
Manual drivers were more efficient because they learned when the vehicle would need to shift, and shifted preemptively. A computer controlled automatic can also be aware of when to shift, and shift early, but much more precisely (since it isn't based on engine noise/judder, it is based on direct electrical feedback).
CVTs are more efficient yet again because you now have "infinite gears" and they're computer controlled.
I'd happily drive a CVT until the day I die, and I learned on a manual. The only thing I wish is that they had better "off the line" response (e.g. stopped at a light).