Something does not sound right.
The truck should revert to Normal mode when starting. The outer, lower, long button on the right side of the wheel will toggle between modes (you'll see the dash display change to normal, sport, tow, Baja, etc.). To the left of it is another long switch that will toggle (at least in Normal mode) to 3 different steering levels of effort, there's a steering wheel icon there.
Drive it in Sport mode and see if it changes. In Sport mode the suspension should tighten up, it will not skip gears (1-3 and 3-5) like in Normal mode. The Auto stop/start will be disabled, and it will hold gears to a higher RPM before shifting and the shifts will be much more firm.