Generally speaking, when an automatic downshifts under those conditions, you won't feel the shift.
My Gem2 4.0L with AT under those conditions will have a firm downshift around 35 mph. This is when the torque convertor falls out of lock up. All perfectly normal. If I want to force the shift, I can simply move the trans gear selector from D to 4. The downshift will happen with a corresponding increase in engine speed (rpm).
All normal
My suggestion is to quit imagining problems and just drive the truck with the AT in D. Let the trans take care of its business. It knows better than you as to the proper shift points.