You are making a huge mistake by not using Tow Haul. Just the weight of the coach is enough to necessitate using TH for optimum performance. Add in a heavy load or towing anything and you really need TH.
You are effectively, slowly but surely, cooking your tranmission by not using Tow Haul. When you engage it the torque converter locks up eliminating a lot of heat generating friction. Even a slight grade or 2 or 3 percent will quickly heat up your trans fluid temperature.
You can easily note this with your Scan Gauge. Sometimes I inadvertently forget to engage TH and notice the trans temps climbing dramatically. I immediately enage TH and watch the temps drop 12 - 15 degrees in just a mile or two.
About the only time you don't need to run TH is on a long shallow descending grade. On steep descending grades using TH will save your brakes and a lot of fuel. I can come down a 12 mile 6 - 8 percent grade in TH and probably never touch my brakes and without burning a drop of fuel. Again your SC will demonstrate this clearly.
I wish I had your 6 speed trans but my 2011 E-350 Chassis does have the 5 speed Torque Shift trans and it works very well. I usually run near or at my GVWR of 11,500 and most of the time I am towing my 10' cargo trailer hauling either my Indian Springfield or my Polaris RZR. The bike and trailer weigh in at 2,220# and the Rzr and trailer are 2,560#.
I always run with my SC displaying average mpg, real time mpg, coolant and trans fluid temps. There are a couple of dozen different displays available and switching between them is just a couple of keystrokes.
I have had my SC for 8+ years. Bought it for my F-150 5.4L V-8 when I was towing a 22' TT {GVWR of 5,600#}. The MPG displays quickly educated my right foot generating an almost immediate 10 percent improvement in fuel economy - just play the game of trying to keep your real time mpg higher than your acverage mpg. When I bought our 24' Class C I just reprogrammed the SC for the 6.8L V-10. I would not own a truck or RV without a Scan Gauge.
As always... Opinions and YMMV.