I tow with Tow Mode on, usually on cruise control at 55 or 60 and let the transmission figure things out. Works well in all terrain including steep mountain grades. Tranny temp climbs into the low 200s on long, steep grades, but have never had an error message.
While not the heaviest FW, I tow in tow/haul and it will go into overdrive on its own and running at the same RPM as if it were not in tow/haul mode. I also use cruise control whenever traffic/roads allow it up to 62 MPH max. The engine/tranny seems to figure things out pretty well. I do this over the mountains and on the flats as well.