You don't say what kind of roads you are on, if you are towing or what your highway speed is, so I can only let you know about my experience.
My highway speed is ~63mph. I always tow my Jeep and I always use tow/haul mode. At this speed the engine is ~2,500rpm. Even on relatively flat roads I will get downshifts at overpasses and on slight inclines. If you look at power curve charts for the 2016> Ford V10, this engine makes peak torque (460) @ ~3,200rpm and peak hp (320) @ ~4,000rpm. So at my highway speeds I am well below either of those. Going up a moderate hill with cruise control on, mine will shift down to 4th gear and that will get the engine to ~4,000rpm to maintain 63mph.
After having driven/still driving diesel pickups since the late 80s, it was a bit disconcerting when I first drove my Mirada, but now I am used to it and just let it do its thing.
AL
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2016 Coachmen Mirada 35KB
2016 Jeep Cherokee 75th Ann. Ed.
2007 Corvette Convertible
1997 F-350 CC PSD
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