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you will need to calc the tire diameter first, or get it from the manufacturer's website (BFGoodrich, for example, has tire diameter and revs/mile, which is handy to do the calcs).
If you already have a tire size in mind you can find the specs and then determine RPM at any speed - or change around the formula to suit your needs.
Speed (miles/hour) x tire (revs/mile) x (1 hour/60 minutes) x transmission gear ratio x rear gear ratio = RPM
ex. 60 mph x 797 (a 235/60/15 tire) x 1/60 x 1.00 (final drive) x 3.23 (rear) = 2574RPM