Mine is around the same height/length as the pinnacle you just bought. When towing, I stick to interstates when possible and re fuel at truck stops where I know canopies are high enough to prevent collisions.
I would never travel secondary roads or enter a city or town without researching my route to ensure there are no low bridges or dead end roads that would cause me problems ( this became a huge problem for me when a city street suddenly ended at a new city parking lot).
I have recently purchased copilot truck GPS for my iPad to help me plan routes that will hopefully avoid these pit falls.
Also, a new forum topic with this question would probably get you more suggestions and opinions