Yes, if you're pulling that much and frequently, the 4.10's are a good choice. As for the shifting, I notice that my 18 is rougher than my 14 was, both 4.10's and Aisin. If you hesitate while in the lower gears, 1-3, by backing off the throttle a bit too much and then get into it again I notice that sometimes it can seem confused and have a lag or a harsh shift. Normal unfortunately so you just have to get used to it and you learn to drive in a manner that avoids this. The Aisin is more than worth these glitches though for durability otherwise.
And always use the tow/haul and e-brake, empty or loaded.