This thread may have got a little off topic on mpg's (which doesn't appear to be what the OP is asking). But regardless.. mpg's are part of the equation too... even if you're will to accept less.
When I got my 2000 (over 10 years ago), it had 8 lift, 31.5" AT tires, and a stock 3.42 gear.
It was a TOTAL DOG on the highway! Around town too.
Also lacked power miserably when towing anything as well.
The AWD (single high-range) was practically useless to me, and failed me pulling off-road on several occasions.
No power, no pep, very slow acceleration... just terribly weak. ALL THE TIME.
Driving a different stock van felt like a sports car compared to my weak van.
Worse yet.. with even the slightest incline, my van would constantly need to downshift to 3rd.
My van struggled terribly to maintain highway speeds with even the slightest headwind too.
While cruising, I always had the throttle pushed hard just before the point of downshifting.
There were times (with headwinds) I literally could NOT maintain upper highway speeds.
Beside lack of power (with mine), this also badly sucked fuel and resulted in some pretty poor fuel mileage. Sometimes on the highway in a headwind (with A/C on), beside being unable to maintain highway speed, my mileage would suffer as low as 9-10 mpg. No power, no speed, no fuel economy. Everything was HORRIBLE!!
Believe it or not, I solved some of my lack of power troubles by simply downsizing 1 inch from a 31" AT tire to a 30' HT (highway touring) tire. This small difference made a HUGE world of difference for me! A slightly smaller tire equaled slightly more torque (just enough to make a difference), and the "highway touring" tires have far less rolling resistance than the AT. My new tires are still a rugged LT tire... but beside exceptional improvement on the highway, it pulls just fine off-road too. These two slight improvements combined made a HUGE difference for me. Better power, now able maintain upper highway speeds, and much better fuel economy (suddenly went from 10-12 to 13-15mpg). I've even seen 16-18 now (under right conditions).. which was previously IMPOSSIBLE. It was the previous combination of all the various EXTRA loads adding up to more than the engine could handle.. and now I'm just below that threshold.
I calculated that I need somewhere between 3.73-4.11 (about 3.90) gear to compensate for tire size. Even with this taller gear, it would still only feel as good as a 3.42. The stock 3.42 IS a good ratio for light typical use (stock tires stock van).. but if you tow (or simply want more pep).. then more gear is the solution. Taller tires require this compensation adjustment just to bring you back to where you should be.
You NEVER want less gear (lower rpms).. which is what taller tires do for you.
This forces the engine to run too low of rpms BELOW it's optimal sweet spot range (for power and economy).
So is changing to a 3.73 gear "worth it"? (or even a 3.90)
That question really depends on what you consider "worth it".
Do you have lift and taller tires?
Do you push driving over 65?
Do you drive hilly roads? Mountains?
Do you drive a lot?
Do you ever tow?
Do you appreciate pep and improved performance?
Can you afford to do the upgrade? (or able to do it yourself)?
If you have an AWD.. then that DOUBLES the cost and labor!
With AWD... you have to match and do BOTH front and rear.
So far.. this has been the deal breaker for me.
I bought a 3.73 G80 locker for mine (years ago).. but haven't installed it yet because I need the front to match. Either I have re-gear it (huge amount of work).. or find a matching 3.73 front differential, buy, and install. They don't exist in Florida, so that affects my search. I've even considered just changing the rear only (I'm a "rule breaker") and temporarily living with mismatched gears (this can be done with a converted 4x4, but would not work with AWD). For now... I just live with what I got, since it's not as bad as it once was.
The 3.73 vs 3.90 won't really be much noticeable.. and if you already have 3.73's, then I'd go with that. It's a common gear.. perfect for any Astro, and perfect if you're running taller tires.