What year is your truck?
Also do you buy 91 octane gas while towing?
91 octane is recomended while towing to allow the engine to run leaner, and thus will give better mileage.
Did you somehow have the engine in manual shift mode? This would have prevented it from downshifting on it's own when heavy throttle is applied, thus the message on the dash. I would think that having it in drive, and then turn on the tow/haul mode, it would still be shifting itself.
However if in M mode, that requires upshifting and downshifting with the up and down buttons, and the transmission is not trying to change gears on it's own. M mode is what I used while going down a 5% grade in city traffic, where the speed limit is 35 MPH, and all the cars in front of my have their brake lights on! I just downshift, and coast down the steep hill. Then hopefully remember to shift back into D at the bottom of the hill, so that the transmission will select the gears for me.
Fred.