Quoting Workhorse's 2006 Gas Chassis Maintenance Guide below (note: the straight SAE 30 comment). Your good as long as it was HD 30W.
"VISCOSITY"
"Engine oil viscosity (thickness) has an effect on fuel economy. Lower viscosity oils can provide better economy; however higher temperature weather conditions require higher viscosity engine oils for satisfactory lubrication. Using any oil viscosity other than those recommended could cause engine damage.
Gasoline Engines – For all temperature ranges the preferred oil for your engine is SAE 5W-30. However, you can use SAE 10W-30 if temperatures stay above 0 degrees F (18 degrees C). For heavy-duty driving in summer temperatures, above 40 degrees F (4 Degrees C), there can be an advantage to a single-viscosity straight SAE 30. Refer to adjacent chart.
Note: SAE 10W-40 has been removed from all Workhorse recommendations."