In late summer, when your truck is really nice and dry and it's warm out, spray everything under the truck with oil - non-detergent or hydraulic oil works best. Get it inside the doors and tailgate and everywhere else moisture can get. If you do it every year your truck will last for years and years. In the spring, just wash it really well and pressure wash the bottom if you wish and it will be nice and clean.
There are several places around here that do this for $40 - $50. One place in NE Ohio is a transmission rebuilder and they use their used ATF like this.
I like to run up and down a dusty dirt road right after getting it oiled. The dust helps the oil stay on better.
Undercoating, like Zeibart, is good for a few years, but dries out over time, trapping moisture, making it worse than nothing. If you do have that done, spray your truck's bottom with diesel fuel every few years to keep the undercoating soft and pliable. Just use a pump up fruit sprayer for that.