With a 4.10 axle ratio, when towing our much heavier 5th wheel I just turn on the exhaust brake, turn on tow/haul, run it up to 65 MPH, set the cruise control and let the computers handle the gear selection. The only exception is if we get into the hills where the cruise control may force downshifts by trying to hold the speed setting - in that case, I'll shut off the cruise and handle the throttle with my right foot, letting the speed degrade slightly to avoid an unnecessary downshift or, if it's hunting too much, just lock it down into 5th for awhile. In most conditions, though, the truck is quite happy in 6th at 1750 RPM @ 65 MPH. The truck will let you know if it's unhappy - if it isn't, I'd let it do its thing; the engineers spent a lot of time setting it up to do just that.
Rusty