A 3.73 on my past 6.0 was ok with camper only. That being said, my 6.4 with 4.30 stomps it in the mountains. No doubt that a ratio like 4.10 will impact the mpg on the same model/transmission truck compared to the 3.55. That's why they have gears afterall.
I bought a truck with 4.30s because I knew I was going to go over the Cascades and Rockies pretty often, and I wanted the capability of towing the largest fifth wheel in the future if I wanted to.
Unless you plan to tow heavier loads a lot, or go through passes a lot, the 3.55 should be ok.