Don't have a MH, but always towing my 5er in tow/haul mode & can still do the manual shifts if necessary. The advantage of the exhaust brake on the diesel is with it engaged, tow/haul mode on very rarely do I have to do more than tap the brake pedal to activate both when going down a steep grade.
In my opinion if you're cruising on a long relatively flat stretch of highway no tow/haul needed, if in heavy traffic or up/down terrain turn it on.
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Fulltimed 10+ years
Sold '13 Thor Redwood 36 FB
Traded '13 GMC Denali DRW D/A
Replacement undetermined
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