I have several trips in the dash I've been tracking for a few months and they show MPG under 20 miles/gal. We don't really drive it hard. Is this a concern or does everyone else show similar city driving numbers?

 

Is 85 AKI (octane) gasoline still available? Use 88. The owner's manual specifies 87 or higher.
Do you have racks or a box on top? Take it off.
Carrying tools or other unneeded weight inside? Clean it out.
Still running snow tires? They get lower gas mileage.
Are your tires inflated to match the placard on the driver's door jam? Air them up cold to the pressures listed.
Don't go by the dash calculator. Do your own fill up, then calculate consumption by miles and the gallons needed for the next fill up.
How many miles on the car? The engine runs better when the spark plugs are changed every 40,000 miles and the air cleaner changed when dirty or at the listed mileage, whichever comes first.
Expect something like 26 mpg at best on highways at 65 to 70 mph. I don't know what your 80 mph highways will give you.

85 AKI gasoline is a relic dating back to carbureted engines without electronic ignition controls. At high elevations the reduced oxygen content in the air allowed for lower octane gasoline without causing spark knock. Modern engines control for all that. Use the octane rating specified in the owner's manual. You'll get better performance including lower gas consumption.