Unless you know the road, let the truck do the thinking in tow/haul mode. If you know the road, use the manual setting, because you can think ahead, the truck cannot.
The only time I needed the manual mode was on the million dollar highway north of Durango. The trailer brake controller died, and left me without trailer brakes. I used the manual shifting, just like Dad taught me to drive a dump truck. The gears are for dropping, the brakes are for stopping.
Here is another plug for the Ford dealer in Steamboat Springs for getting an out of towner back on the road.