Here's a description of how I make lug connections to battery cables for my boat. Should apply pretty well to our trucks. Maybe it's even better to crimp first, then solder - I don't know.
There's another way to do connectors on heavy battery cables that I like - soldering. If you have a propane torch and some rosin-core solder, it's pretty easy, but must be done right. A heat gun - like a hotter version of a hair drier - is the tool of choice for sealing and shrinking the adhesive-lined shrink-wrap. If you want to do the soldering on board the boat, have a big piece of cardboard or some such thing under your soldering area to protect the fiberglass.
Make sure you get the right size tinned lugs, and adhesive-lined shrinkwrap. Cut off the insulation maybe 1/4 or 3/8 inch further than the length that will fit up into the lug. Put a piece of shrink-wrap, maybe twice the length of the barrel on the lug, onto the wire, far enough away from the end that it won't get heated up by the soldering. Hold the cable in a vise, or with someone's help a pliers, with the end pointing somewhat upwards. Put the lug onto the wire, turned the way you want it to be. It should fit easily, but not sloppily, onto the wire.
Have solder at the ready, and it will take a good bit of it. With the propane torch, heat the far end of the lug, not the wire, until it's pretty hot, then poke solder at the wire/lug where the wire enters the lug. If it's hot enough, the solder will melt and be drawn up into the lug. Continue this until the lug is full of solder. It will do some dripping onto the cardboard.
After lug and wire cool down, slide the shrinkwrap up over the lug barrel, and use the heat gun to shrink it thoroughly and evenly all around the lug and wire. You should see the adhesive just starting to ooze out of the end of the shrinkwrap, evenly all around.