Without reviewing the schematic I would suggest R29 is for the backup warning buzzer. If true, the backup lights would not be activated by R29.
As for which relay to use, I would only trust what is stated on the schematic. Relays generally come in 3 configurations. One is simply a relay. The second and third provide protection to the triggering system. One uses a resistor and another a diode. For all relays controlled bya DDEC 3 or 4, I would only use those with protection diodes.
FWIW, Prevost up through at least 98 used several 24V relays to control 12V loads. I assume this was due to the change to 12V loads, like exterior lights, when control systems were still 24V.
I can also believe converters may have put rear flood light controls in that used the back-up lights rather than installing additional rear flood lamps.