No that's part of the benefit of tow/haul mode. When you go to tow/haul mode it probably displays "5" or maybe "6" on the newer models which is the highest gear. It will shift through all gears so you don't have to worry about it.
Tow/haul mode locks out the highest gear(2nd overdrive), extends shift points and engine braking, and uses 2nd prime(the 3rd gear) in upshifts.
If you're not familiar with the weird 2nd prime gear of the transmission, then basically to sum it up it works like this:
In normal driving the transmission shifts 1,2,4,5,6. In T/H mode it shifts 1,2,3,4,5. 2nd prime(as it used to be called) is now called 3rd gear on the newer models.
Breathing in and out is good enough for me.