3000rpm @ 40mph is 2nd gear. I am not familiar enough with the 5.9L and your trans gearing, but you might be able to run first gear at higher engine speed at 40mph. This is a primary problem of 4-spd trans, the relatively wide gear spacing.
If you want to go faster uphill, I recommend towing in 3rd gear, let the speed drop to about 55mph in 3rd gear and force a downshift to 2nd. Engine will be closer to 4000rpm, but that's where it's power is and you'll be less likely drop down to 40mph.