I don't think "slower" is more relaxing, but I find that setting cruise control to something around 10+ whatever the speed limit is a happy medium between not always coming up on people and having to pass them or adjust your cruise control constantly, and pissing off people behind you when you are on those single lane sections of the highway.
At least at that speed I don't feel my behavior or driving can justify anybody's frustration. That is relaxing. If somebody is riding my tail on the say, hwy 1 and I am going 100 in a 90, I don't feel stressed. I am not going to do anything to prevent them from passing when the opportunity comes, but I am not stressing out about it.
However in construction zones I do go exactly the limit and when somebody is tailgating there and they can't pass that's stressful and frustrating.
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