So I did pay attention last night and seems pretty bang on where my truck was shifting as well.

 

Your truck is normal. It is doing what it is supposed to do, get as good of mileage as possible while in what I call "economy mode". That is why you have choices built in from Ford: Sport, Tow/haul and manual. If you want it to shift higher use Sport mode, if you want to be in charge of shifting use manual. I have a 2016 5.0 with 3.31 gears and it sounds very close to what you are describing. Around town and on the highway I am OK with eco mode and when I want a little more perf I will go sport mode or when I feel frisky its manual all the way. I actually love having all these choices.

 

Mine with the same rear gear does the same thing. I can lug it down to 1000 rpm. They reason is for gas mileage and that the 5.0 has gobs of low end torque. Put it in 'sport' mode if you want to feel a new truck

 

As others have said, it's normal. I have 3.55 and none will jump in 5th in the low 30s. And my tachometer will be 1200.

Use sport mode as others suggested. But you are really getting the beat gas mileage.