I had 3.55s in my car for a while when it was n/a. I noticed an improvement and thought the gears were decent. I took an 11 hour trip and pulled down 24 mpg. They were a decent gear if you never plan to race.
If, however, you plan to do any racing (street included), you'll need more than 3.55s to even think about waking the car up. I went from 3.55s to 4.10s and must say it was a night-and-day difference. The car felt like an animal.
IMHO, I would go to 3.73s. They're a good alternative to 4.10s and won't scream too bad on the highway with your 5-spd. I put some in my friend's 02 and it's very civilized on the highway.
BTW, you're going to get a lot of the "don't fear the gear" remarks. You're hearing from someone who has experienced the gears you're asking about. I'd shy away from folks who have never experienced 3.55s and are just regergitating words they read daily on the boards. Just my $.01.
Tim