Well, it depends. I suspect there is not really anything wrong with the truck, and the codes you're seeing are stored from when you ran out of fuel. This is a case where an OBD reader would be handy, because it would tell you for sure if they're recurring. I would say if the truck is not low on power or running rough, then it's okay to drive and the codes will clear on their own. If it's low on power (like 1 cylinder low), then don't drive it.