tmux(1) manual:

  tmux understands some unofficial extensions to terminfo(5):

  Tc      Indicate that the terminal supports the ‘direct colour’
          RGB escape sequence (for example, \e[38;2;255;255;255m).

There is no auto detection mechanism in Vim yet, a working
configuration for me is

if has('termguicolors')
        set termguicolors

        " change ^[ to real escape!
        set t_8f=^[[38;2;%lu;%lu;%lum
        set t_8b=^[[48;2;%lu;%lu;%lum

        set background=dark
        " use an installed GUI color scheme
        " colo solarized
endif

CC: Saleem Rashid <[email protected]>
Signed-off-by: Fengguang Wu <[email protected]>
---
 doc/etc/rxvt-unicode.terminfo | 1 +
 1 file changed, 1 insertion(+)

diff --git a/doc/etc/rxvt-unicode.terminfo b/doc/etc/rxvt-unicode.terminfo
index 35a0a3c..bc39de1 100644
--- a/doc/etc/rxvt-unicode.terminfo
+++ b/doc/etc/rxvt-unicode.terminfo
@@ -139,6 +139,7 @@ rxvt-unicode|rxvt-unicode terminal (X Window System),
        smul=\E[4m,
        tbc=\E[3g,
        vpa=\E[%i%p1%dd,
+       tc,
        colors#88,
        pairs#7744,
        btns#5,
-- 
2.8.1


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