I have to also agree that you weren't high centered. If you were high centered, the engine would rev a lot higher than 900 rpms because a wheel(s) would be spinning. What is limiting you to 900 RPM is the stall speed of the torque converter. I've had similar situations happen to me trying to get over a small curb or rock. I couldn't get enough rpm to get over the obstacle. However, unlike you I was able to back up and get some momentum to get over them. I tried to get a higher stall torque converter when I was having mine transmission rebuilt but had limited time to fidn one because I needed it back on the road. The 258 in stock form gets its peak torque at 2000 rpm. At 900 RPM you aren't able to produce enough toque to move those highway gears. With a manual you would be able to slip the clutch to get the rpms up and have more torque available. Think of your rear gears as a lever. The lower the gears the longer the lever and the easier it is to get moving at low speeds. However, lower gears will cripple you at higher speeds. FYI, a lower gear will have a have a higher number. 3.55's are lower than 2.73's. I went off roading this weekend and having a low range case, saved me from having to be pulled over a couple obstacles.
You have a few options.
Add more torque to your engine by installing a different camshaft, bumping up the compression etc. I have the 4.0L head, Comp cams camshaft, MSD ignition, Motorcraft carb. I have 3.07's but with my taller tires my gear ratio is about the same as have 2.73's with stock size tires. I still have trouble because of the low stall speed of the torque converter.
Find a company that can change the stall speed of your torque converter a few hundred RPM's.
Install lower gears in the axles. This will sacrifice MPG. However, in conjunction with an OD transmission, you can have the best of both worlds. Lower axle ratio and a reasonable final gear ratio.
Installing a manual transmission will give you a much lower first gear and a clutch that you can slipp to get RPMs up.
Install a transfer case with low range.
I already have a NP229. On my to do list is an overdrive auto transmission and a NP242 to gain 4 high lock.