talking from my experience with 4x4 cars, (im not a truck drive, yet, and thus only have limited experience driving a manual 24).
autos are much much much better in off road situations for numerous reasons, no clutch to worry about. be that slipping when under extreme pressure, slipping whilst wet from a water crossing, or when trying to negotiate extremely steep variable terrain (rock crawling) you don't have to worry about trying to slip the clutch to gain traction, without spinning the wheels.
no issues with hill starts. or extended hill climbs.
i agree that if someone cant drive a manual they shouldn't be driving a fire truck, but, i am also of the opinion that if there is an easier option available, take it!
as i said i only have experience with driving cars, but from my experience , in pretty much all circumstances, autos win. ie. city driving, auto wins because less attention to gearbox. (i know it shouldn't take much). in 4x4ing, auto wins hands down. no slipping clutch, ever!
although, i would love to see all our off road firetrucks & 14/qrv's fitted with auto boxes, and selectable diff locks front and rear.