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2100 is all you want to see on your tach and if the engine is not being pushed by the coach, such as when descending a hill in a lower gear you have manually selected you will never exceed that RPM because the coach is set up to protect itself. The exception is if you are in the top gear on a steep hill and you just let the coach roll at an ever increasing speed. Then your biggest problem is not going to be over revving the engine but controlling the coach on a down hill run at speeds in excess of 85 MPH or more.

Doing as you did, letting the engine and transmission work together is perfectly fine. On steeper hills sometimes you have to keep the revs up as high as possible to avoid the loss of momentum and run the risk of an upshift at a lower RPM that is below the best torque RPM. I think on my coach I get best torque at around 1600 so I want keep my revs on a hard climb at that value or higher. I’m guessing your torque peaks at around that RPM as well. Any one that has a reader can read that value off DDEC for you. Next time you need to have some codes checked would be a good time to ask the question.