That is totally backwards from my experience. Having also owned pickup with both drive combos, the 5.3L always gets better mileage than the 5.7L with everything else being equal.I consistantly got 18 on the highway out of my old 97, running 75 MPH. Only problem I had was undersized brakes on the front. It ate them up, easily heated up and warped rotors.
I would not go with the newer generation because I do not like the drivetrain. The 5.3 with 3:73's just do not get the mileage. My 04 with this 5.3 3:73's got about 14MPG on the highway running 75 MPH.