Now I have a slightly different take on it to the drive it in "D" campus.
I have a 1500kg Caravan and have it in S for the majority of any long haul but return to D in slow moving towns/Suburbs, plus I am more often than not already in S for sudden terrain changes, be it severe uphill or downhill gradients, quick getaways at junctions and so on.
My actual main reasoning is that a faster spinning engine and transmission have lesser load stresses than one that is lugged in a higher gear lower engine rpm situation.
In fact my Volvo manual states in the towing advice section under the heading steep inclines, "Do not lock the automatic transmission in a higher gear than the engine "can cope with" - it is not always a good idea to drive at a high gear with low engine revolutions."
That said each to his or her own method....
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