I guess the big-rig driver in me comes out here. I shift progressively.
I take off in the highest gear that I can "0-fuel' in--i. e. ease out of the clutch, and no fuel until I'm completely engaged. Usually this is second.
I then shift 2-3 at around 2100 RPM
then 3-4 at around 2200 RPM
then 4-5 at around 2300 RPM
then 5-6 at around 2300 RPM (or when I reach crusiing speed--whichever comes first).
If I do make a granny-gear take off--that shift is usually at around 2000
I pull to the next gear at a point that I'll slide in right around 1600.
I never full-pedal it when I'm working it, thus I don't truly lug it.
The type of driving/shifting is not what most of us do with these pickups--it's more a throwback to my 18-wheller days--and given that I'm hot-shotting now, it seems appropriate.
I shouldn't admit it--but I will--I'm also a float-shifter. If it won't float right into gear, the engine/transmission's saying not now fella--so that's how I've developed the progressive pattern--it just works so well with the truck.
Bottom line--ease on it, and let the engine tell you. You'll find a spot (especially when pulling) where there's a gap between torque and horsepower at around 2400--then it'll come alive again until around 2600--a useful spot for a long grade.
BTW--for those of you who wonder--I average around 14 MPG with that setup--the trailer is a 40' flat, and weighs 9100#, and my average payload is 5-10,000# -- so gentle and steady seems to pay off with these trucks.
On the other hand--just drive it. It'll tell you when you ain't in the right ranges, and I doubt that you will hurt it unless you take it to the realm of truly abusing it (and if you can't tell you're abusing it at that point, well..... )
JMHO. YMMV.
--Chris