It sounds to me like you are overloaded. I think your GCWR is 26,000 lbs and your GVWR is 19,500 lbs. That leaves you a 6,500 lb towing capacity.
I would guess that your actual weight is around 19,000 lbs, so you might have 7,000 lbs towing capacity. (I have a model 14 inches shorter than yours and mine weighs in at 17,800 lbs.)
I don't know if the overloading would cause the floor problem, though. It could certainly have caused your transmission problems.
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