I get almost exactly the EPA estimate on fleet of ~25yo cars, trucks and minivans. The car is almost always on the high end. I'm supposed to get 22. I get 21.something or 22.something or 23.something from week to week with 22 being most common. The vans and the trucks I don't drive enough to have a good feel for if they're less than an mpg high or low but they are definitely within +/-1mpg.
My commute is pretty much exclusively 70-90mph highway driving with approx four pulls (stoplights) from 0 to 50/70 (traffic speed in that area, depending on conditions) and am not shy about using all of 2nd gear.
From what I understand, the EPA changed their measuring method many, many years ago, to include using the air conditioner, etc; and, from what I can see, mine is well within that range. In fact, I believe it regularly does better than its estimated EPA or right on it. Subaru WRX.