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High RPM shift will give you the better acceleration. I don't like how they say "this is not a racing game" as you didn't mention what are you going to do after you got the answer. I simply hate those arrogant people with prejudice someone and I am not going to argue with them so I will the answer here.
Your truck might need to climb hill or something. In order to maintain a positive acceleration you should keep your revolution as high as possible before changing gears. Hope this helps.