To answer the OP's question, 3.55s + zf5 is great for un loaded driving. 60 should be around 1775 rpm.
Lugging, in an idi, is using the entire output of the engine below 'peak torque' rpm, I read somewhere... which is like 1400-1600 rpm? (N/a that is - turbo torque is a different story).
Really, the rule I use is that if I am going along and can press the accelerator and get more power(truck accelerates), I'm not maxing it out and am OK.
WOT, full-throttle operation should be kept above 2200RPM, and if you get below that, downshift.
Also, an EGT gauge is really how you tell if you are stressing the engine - <600f = unstressed, 600-900F = normal, 900-1100 = maxing it out, 1100+ = back off on the throttle, you are getting hot.
Not to say that if you hit 1101 it'll melt down, but keeping it under that is a good, safe number.
As an aside, I regularly drive in flat ground, 35mph in 5th with my zf5+4.10 gearing at 1200rpm... because it's not maxing it out at all. Going up a hill, I'd definitely downshift... but on flat ground it will just cruise.