Learn to Float em, not gona hurt anything and one will also pick up more MPG.
I float up and down, it takes a while to learn this, just a little push on the accelerator and it comes right out of gear if not your going to fast for that gear anyway example 35mph for 8th for that 10 speed should be top of the line for that grear time to float out of 8th and into 9th 32-35mph should be your range with rpms at 1,500 thats the secret right up to 1,500 and go up, going down when you drop to 1,150 or 1,080 thats when you float back to a lower gear give the accelerator a little goose and it should come right out than down shift. Accelerate the RPMs to match the speed while downshifting and she will slip right into the lower gear for you. Sounds easier than done but once you learn this it makes driving a 10 speed enjoyable instead of fighting it all of the time.
After a while and some gear grinding aint gona do enough damage so beware your gona do it but it makes the drive train easier to adjust no bounciing or rocking the truck no racing to next light thus improving your MPG. If you have always been the first away from the light than your not Float N em and your paying $ for the privledge of being first at the next light while I am coasting and timming the next light to change so I try to never come to a stop at the next intersection. It takes lots of fuel to get a truck to get up and go from 0-5mph vs 6mph to up shifting into 4th.
Take off always in 3rd gear with full load maybee 4th in a Straight Truck. While I am light or empty I can pull away in 4th or 5th loaded 3rd.
Hope this helps.