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Like others I routinely tow with Tow-Haul mode off. I will deploy it when I want extra control on hills and mountains or in traffic with frequent speed changes. There are times the transmission will not shift into sixth gear in Tow-Haul mode on but it always will in Normal mode.
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This is what I have always done too.
Keeps the truck closer to the best economy range without any harm.
No need to be cruising at 55-60 MPH on flat ground at 2000 RPM.