I'll rev mine to that occasionally, but peak torque is at 5,000, so for normal every day riding around town and such, I don't go much over 5,000 RPM. It's a decent torque motor, but you have to be careful not to lug it down at 3,000 rpm or less. I don't rev it out to 7,000 in town as it feels a bit frantic and I don't need to be pulling full power.
To be fair, lower RPM while cruising along at a constant speed is not the thing that's most harmful, it's pulling under load at lower RPMs, like going up hill or accelerating and drastically short shifting. I'll engine brake at 3,000 RPM in places, coming down the canyons, and that won't be unduly stressing the engine.
I tend to reserve revving it out a bit more for freeway on ramps or coming up to speed for a merge. I'm not afraid to rev it, I just don't need full power most of the time.
It cruises at freeway speeds between 3,500 and 4,000 RPM in top. If it drops below 3,000 because of traffic, I'll downshift a gear into fifth.
Up in the mountains, I tend to run it up to 6,000 or even 7,000 RPM when necessary, because at my altitude of 5,000 feet, peak power is down to about 100 BHP, and at 10,000 feet I'm down to only 87 BHP! Peak torque at 5,000 RPM drops from 96 lb-ft to 83 lb-ft, to 72 lb-ft. The loss in power and torque is quite noticeable. It runs smoothly at altitude, just feels a bit, well, quite a bit, sluggish.
Altitude makes a big difference as to what I run it up to, especially as I'm always two up.