Depends on the terrain. If on a relatively flat interstate or fast state road, get it up to a cruising speed in top gear & leave it on cruise control. If on a road with varying elevation where it tends to downshift on the upslope, do not use cruise control & speed up a bit in advance to get the momentum to go over the upgrade in top gear. Downhill mountain driving or faced with a long downslope anywhere, use the manual mode for braking.
Even in auto the truck can be driven as if it were a manual shift by giving it a bit of a jab on upgrades to force it to downshift before the rpm drops far enough for the computer to do it for you.
Cruise control & all that stuff is nice but it cannot see what you are coming up on & think in advance. It can only react to what is now.