Whenever I get a new vehicle I check the mpg by pump/odometer readings to see what the mpg runs under various driving conditions. Then I compare that to the vehicle calculated mpg. And on every vehicle the hand calculated mpg has been almost exactly the same as the vehicle calculated mpg. After that, I just watch the vehicle displayed mpg to see if there are any changes. Close enough for me.
Have a good friend, who doesn't even tow, and he logs the date, odometer reading location, gallons purchased, price per gallon, and total price every time he fills up. Been doing that for 50 years. And does nothing with the numbers other than knowing he has them. Somewhat OCD.