I have a diesel that has never seen over 3000 rpm. I have redlined it at 3000 a few times. It defuels itself at 3000. Now my gm 6.5td and dmax have both seen over 3000 a few times.....not much over. And they sound as loud at 3000 as my vortec 350 does at 5500! At 4000 the vortec is just starting to make a sound.....
ANyway, as far as minimum speeds go. BC I have seen literal minimum speed signs, here in Wa st, I believe it is 40 mph. BUT, some of the mtn passes I have been going 35-40 and passed slower 18 wheelers, as the SP leo's pass us going up grades. SO the minimum per state law as I recall is not followed very much in some area's. A lot of times you have to get into the fine print of the law in the books per say, it is not posted on the road. Altho around here, ANY ONE towing or with a gvw/gcw over 10K lbs, has to follow the truck speeds which is a max 60 on ALL interstates/st hwys etc. Interstates in some area's have a max of 70 for non towing and under 10K licensed rigs.
As far as the speed the OP is going, you did not stall out, so keep moving along, enjoying the drive/ride/scenery! If you go faster, you miss deer, bear, etc that can be seen at 40, but not at 70!:B:B:B:B
Marty