two scenarios that could cause that (there may be others... )
[1] Alternator's Voltage regulator fails in the shorted position, raising the charging Voltage way above the typical 14V, can result in damage to various electrics on truck, also will over-charge batteries to the point of overheat and bursting.
[2] Alternator & regulator fine, a battery can develop an internal short (piece of a plate brakes off & migrates around inside battery where it shouldn't be). Causes that one battery to draw heavy current and dissipate lots of power (heat), eventually bursting.
Sounds strongly like you encountered [2]. The low system Voltage you saw could have been the shorted battery drawing heavy current from the alternator (and other battery).
imho it was probably a smart move to replace BOTH batteries together, though some others may feel no need to replace the one that hadn't failed. Also imho, I'd keep a suspicious eye on the alternator Voltage regulator going forward. Not suggesting at all that the regulator caused the failure you just encountered. No, I believe that was probably a simple battery defect. But when that battery failed, evidence is that it may have put a huge load on the alternator for some period of time, so the regulator (maybe the brushes also) might have been over-taxed and lifetime shortened. Others might tell you it's fine and I'm just a pessimist.