Ideal Shift points are not determined solely by rpm. If this were true, an automatic transmission would be relatively simple in its design. You have to consider load, acceleration rate, and rpm. If for example, I am just puttin around real slow, I will shift at a realatively low rpm because I don't plan on loading the engine and it will run fine at the lower rpm in that situation. Conversely, if I am trying to race (in a Jeep!!) then I would run the rpms up to, or close to the rev-limiter. To learn when to shift is something you learn primarily with experience. Even then, you will probably have a different driving style than me and will either shift at a higher point or lower point than I do, simple because it is your style of driving. If you want power, shift at higher rpm with more skinny pedal, if you want economy, shift soon and stay off the skinny pedal.
2000-2300 is a good point for normal easy driving. you don't wanna go to low, cuz they don't like to be bogged down.
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You can't just go by rpm since what would be a good rpm for one size tire and axle ratio would lug the engine with a different size tire and axle ratio. I'd say closer to 3000 rpms typically with between 2000 and 2500 being too low to shift at unless you're driving on city streets at 25-30 mph.
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What do you mean by "ideal" rpm, or "ideal" time to shift ? It's up to you how fast you want to go / how high you want to rev it before shifting.
I've found with my setup (33's, stock gears, 4cyl.) that I get 50 more miles per tankful of gas if I shift between 2000 & 2200 rpm's. But that makes driving slow. I drive slow. When I drove faster I shifted between 2500 & 3000. It's faster, and I went 50 miles less per tankful.
How do you like to drive ? This is what usually determines shift rpm's.
What is best for the engine ? Probably what works the engine the least. Parts wear out faster when you work them harder.
I'm not gonna go over that......