Yes, as a general rule, engines are most efficient at peak torque - and an estimate of how sharp this peak efficiency is is given by how sharp the torque peak is. Specific fuel consumption curves are rarely published for car engines. Even where they are published, note that they are for specific fuel consumption at full throttle. How often is any practical vehicle driven at full throttle at maximum torque rpm? (Some trucks are, but all current cars and light vehicles have far too much power for this to be practical.)
However, this peak in energy efficiency has to be seen against a drag curve that has no peak - it just keeps going up.
Fuel consumption also depends on the road - hills, curves that need slowing for, traffic that requires changes in speed.
But also very important is driving style. And, apart from speed, the main difference is in use of brakes. Brakes convert speed into heat, representing directly, waste of fuel. Economical driving means driving as if the brakes do not work - look ahead, anticipate the need to slow, and do so without braking. Also, allowing the vehicle to slow approaching a crest, so you can safely and legally allow it to accelerate down the other side of the hill, again, avoiding braking, saves fuel - where this is practical.
The reason this trip to Perth was a good test of the effects of speed is that most of the distance is flat, straight and little traffic. And, importantly, long enough that errors in fuel quantity when filling up (did I fill it to exactly the same level?) are insignificant. A possible confounding factor could be a prevailing wind, but my observation was that wind was either light or a crosswind on both legs.
And then there are variables such as tyre pressure - if the tyre temperature rises significantly, you are wasting fuel!
Driving with windows open versus using the aircon - depends on the vehicle; the more streamlined the bigger the effect of open windows, but probably not a significant effect on a brick like a Defender! On this trip, no aircon, no windows open, vents occasionally open - but mostly wishing the heater worked better!

