I realize it is a personal choice, but I will never tow anything of size again with an auto. The manual (NV5600 in my case) puts all the power to the ground rather than into heat while waiting for the speed to catch up, with that heat tearing up the transmission. Also, I recommend the 4. 10 if you will be towing at all.
I believe the location of reverse on the G56 is to the left and then to the rear, diagonally opposite to where it is on the NV5600. An easier way than climbing under a truck. Also, rather the a numeral '1' for first (granny) gear, the G56 has the letter 'L' for low... . Haven't seen one, but that is what I remember of the discussions on here...