Welcome and I hope you are enjoying your BMW.
3000 rpm at 70 mph sounds about right.
Your car has a 1:1 gear ratio in fifth gear (I assume you're in fifth gear when you are going at 70 mph), whereas your dad's car (sure it is not a 330i?) has an overdrive gear with a 0.74 gear ratio for fuel economy, which translates to lower rpm at the same speed, despite the higher final drive ratio on the auto. The auto has a final drive ratio of 3.46, whereas the manual comes with a 3.15 unit.
I shift at no higher than 3000 rpm when the car hasn't warmed up (I let the tem gauge point to 12 o'clock, then I wait 5 minutes). After that, I shift at whatever engine speed fits the mood. Be sure to redline your car every so often - that is what it was meant to do. I have two 3 series BMW's with the inline 6 engines, and I drive them the same way. These cars are meant to be fun (the 218,000 miles on the odometer of my E36 are a testimony to that).
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