Vehicle, or tractor? Very different things, very different needs.
Best fuel efficiency on a vehicle would be bicycle tires inflated to rock hard. Wouldn't do much for practical use, but it would be most efficient. (Note the high-milage races, they all have bike tires of some sort.)
For hauling - trucks - you need a tire that can handle the load. The big singles are more efficent that duals used to be, so we see more new trucks with the large singles. Bicycle tires just wouldn't do much for a truck....
A tractor or other heavy pulling unit - it's all about traction, controling the wheelspin. Get the wheelspin low enough to be very efficient. The most efficient traveling tractor is the one with the proper wheelspin.
Duals, triples, or I've even seen quads, will control the wheelspin & improve the efficiency - but it all has to 'make sense' and be matched to the dirt & the load you are pulling & the weight of the tractor.
Driving down the road from one field to the next, a tractor is not efficient in any shape or form, so the number of wheels has about zero effect on efficiency of just traveling down the road. :)
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Today's Featured Article - Madison's County - by Anthony West. Philip Madison has been a good friend of mine for quite some time. He has patiently suffered my incessant chit chat on the subject of tractors for longer than I care to remember, and on many occasions he has put himself out, dropped what ever it was he was doing, to come and lend a hand cranking handles, or loading a find onto a trailer. Although he himself has never actually owned or restored a tractor, he was always enthusiastic and always around helping with other peoples projects.
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