The engineers who program the ECU try, but can't, program for every situation. The variables are just too much. This is why we still have the ability to take control of the transmission. The OP's situation, as described, is exactly why. Downshift as necessary to maintain speed. Keep the RPM up at least over 3500 where the engine has the higher HP/Torque numbers. Doesn't matter how many gears the transmission has or how many valves are in the heads you sometimes have to actually drive the thing to include manually shifting the gears.
Tow/Haul is a nice feature but its not a 100% replacement for the driver to manage the overall performance of the powertrain in unique and challenging situations. The higher RPM also has the added benefit of increased cooling since the water pump and fan speeds are directly related to engine RPM. Same for the transmission oil pump and moving fluid thru the cooler. Downshift, stay to the right, turn on the four way flashers, watch your temps and hang with the over the road truckers.
It maybe a race but with everyone going someplace different you'll still be the winner and first to arrive at your destination.