That's about normal. My old Tahoe had a 31 gallon tank, yet it seemed the most I'd usually put in there was 24 gallons when it was low. Then it also seemed it would take forever to go from full to half tank, then it would drop like an anchor after that. Any GM I've ever had, the gas gauge isn't really linear as far as level goes.
You are doing your fuel pump a favor by keeping more in the tank. Think about the tank shape, too. From a volume standpoint...If you poured a few gallons of water in a bath tub, you'll quickly see that it'll take a few just to get you a couple inches of depth.
You can always try going 200 miles. See how many gallons that gets you. I'd guess around 18 gallons.