Welcome to the forum.
The Nissan Navara's fuel economy isn't all that bad, really. Given its shape - it's not very aerodynamic - and its weight of 2tonnes+, for a small diesel it does very well.
That weight doesn't do it any favours when you're taking off. I've found that as little as 500rpm extra makes a difference. I try to keep my take-off rpm to 2500 or less - I don't exactly win every race when the lights go green, but then it's not supposed to be a race, I have to keep telling myself.
Your cruise speed also has a lot to do with it. The effort required to push the vehicle through the air increases with speed - it's not a linear increase, because as air velocities and pressures change around the vehicle, the vehicle struggles more and more. The sweet spot for the D40 is right where the torque comes on - about 2,000rpm - which translates to around 95km/h.
We proved this beyond any doubt at Christmas when we towed our van to Uluru. Trying to sit on 120km/h made the thing drink mid 17s to mid 18s. Winding it back to 95km/h and taking off gently brought the consumption down to 15s and 16s. This was with a full tub and towing a 1.8T van, I guess we were sitting at around 4.5 to 4.6T all up.
Try a tankful - or even part of a tank (couple of hundred km will do) using this method:
* Don't use cruise control
* When taking off, use about 2,000rpm if possible but if it's a hill you're climbing, let it get up to 2500rpm.
* When climbing hills, don't push the thing up the hill, hold your rpm at 2500 tops, et the car slow down, people behind can just wait
* Coast downhills
* Keep your max speed to 95km/h
* If you've got an auto, as the car passes 75km/h, back off the accelerator a little and let the torque converter lock up as early as possible, then gently bring the vehicle up to cruise speed.
It might seem like "teaching grandma to suck eggs" but these are the things that I do to reduce fuel usage and they seem to work. Not towing and lightly loaded (we're about 2500Kg without anything in the tub, so guess about 2600Kg) we get mid-10s on the highway, mid-12s in the city.