As long as your knees are below your waistline while in the seated position your muscles won't fatigue as quickly. In your truck I'm guessing your knees are resting higher than your waist. Depending on the age and feature model of your truck you may be able to tilt the seat forward and down just enough to achieve that configuration. And keep things like a wallet out of your back pocket.
Hydrate and walk around/stretch every hour or two [max] is a must no matter what you drive over long distances.
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