To be “almost” certain you won't drop a lifter, use new wooden dowels, chamfered on one end just a little, and with a slot cut with the gain of the wood about ½” deep on the end using a hack saw blade. The front four cylinders are easy to access and the dowels can be longer than 12”. For cylinders 5 and 6 you need to put the end of the dowel into the access hole in the cowl where the rubber plugs have been removed for this job, and rotate the dowel into position to go into the pushrod hole. This process is just the reverse of what you had to do to remove the long rocker stand/head bolt and the pushrod. The dowels should drive into the lifters easily with a hammer, but not pull out easily. I try each one by hand to be sure they are in tight, and hold them up with wooden spring-actuated clothes pins. I pull them out afterwards with a long needle nose pliers and a wood fulcrum for the pliers. I put in a piece of 2” diameter exhaust pipe that is 32-36” long so if one did fall, it couldn't go anywhere and you could drive a dowel back into it. Be careful not to hit the pipe or trough into the soft plug at the back of the cam bore, or it can fall out into the bell housing.
In principle you can tell a lot by the wear pattern on the cam lobes, but I have seen some lifters with pits in the feet. Removing and replacing the lifters is a fairly large, and stressful job. You need a piece of 2” tubing that is cut lengthwise to about 2/3 its diameter, with the open part big enough for a lifter foot to drop in and be pulled out. (Lifter foot diameter went up with the 24 valve engines, and again with the 2003-up engines). You also need a plate welded onto the back end of the trough you just made so a lifter can't fall out the back. Get about 2-3 feet of good string, and tie a plumbing washer on one end that will stick in a lifter tightly enough to hold it, but that can be pulled out by jerking on the string. I use a washer that is about 9/16” diameter, hard rubber, and about ¼” thick, designed for a faucet. Put an 11” long brass sleeve about ¼” diameter on the string. I use nylon “parachute” cord so there isn't a risk of the string breaking. Be sure the knot in the end is out of the way so the lifter will pull up into its bore.
After you remove the camshaft, slide the trough into the block and pull out one dowel. Collect that lifter with a 3' long dowel that has a hook on the end, opened out enough to help grab onto the lifter. The other end of the long dowel will have a hook on it that is tight enough to grab the end of the string with the rubber washer on it. Keep these lifters in order as you remove them. To install the new lifters, push the stopper end of the string through the pushrod hole and lifter bore. With the engine at an angle in the truck, the brass tube helps greatly in getting the string into place. Once the rubber washer is in the trough, pull it and some string out the front of the trough with the tight hook on the long dowel. Push the washer into the top of the new lifter. The cup of the lifter should be dry (you can put cam lube on the end of the pushrod for lubricant later), and the side of the lifter lightly oiled. The foot of the lifter should have cam lube on it, such as Crane and other cam companies offer. Pull the string from the rocker end of the pushrod hole, and lightly bump the lifter with the long dowel to help it turn and go up into its bore. As soon as it is up, rotate the trough so the open side is down. Pull out the washer and string, letting the lifter drop onto the back side of the trough. Drive an 11”-12” wooden dowel into the lifter, and hold it up with a clothes pin. Move on to the next lifter. I suggest doing the lifters at the front (cylinder #1) first as “practice” since the back ones are the most stressful to deal with.