The battery normally vents off small amounts of hydrogen gas(explosive in concentrations of 5%-95% in air) thru the vents. Not normally an issue to clean tight connections because the vents are not at the terminal, however when continued corrosion builds up at the terminal it signals an issue, normally the seal around the terminal is giving up. This can be caused by heat buildup on the terminal itself due to a high joint connection (corrosion resistance) or heat from in the cell, normally caused by reduced cell plate material formed onto sulfation (this is what the plate material turns into when the cell is not fully charged). The terminal needs cleaned and sealed. Use a brush made for terminal cleaning and wipe with a distilled water soaked rag until clean. Wipe the base of the terminal and battery top with an alcohol damp rag. I've seen folks use silicon sealant applied around the base of the terminal and allowed to set but I'd check out the glues and sealers indicating acid resistant at NAPA. Once set, clean with baking soda to neutralize the corrosion and rinse with distilled water. Then wipe the terminal with a vinegar soaked rag (5% acid), corrosion eats deep and again rinse with soda and distilled water. The idea is not to get any cleaning agent down around the terminal or that cell can be damaged. This is where I would recharge each battery out of the truck with a smart charger (Walmart). Understanding the charge system of the truck is not made to fully charge a battery only keep a fully charged battery charged, sounds weird but true. Some sulfation can be reformed to plate material with an appropriate charger and charge procedures.
Check this site:
Battery Management 101
An RV battery site but still applicable and informative.
Now after this long winded burb, your batteries probably are toward the end of their life mainly because the seal has been compromised and if so the electrolyte level are probably not as it should be. Have them load tested and then recharge again. Coat with an anti corrosion grease before reassembly.
Here's the deal about the penny glued to the top of the battery near the terminal. It's a sacrificial anode, it will tell you if more than normal gases are escaping from the battery around the terminal, a sign electolyte levels are being compromised in a sealed battery. If the penny is eaten up rapidly (the time is the key) your battery is going to die because the electrolyte is going low in that cell. Maintenance (electrolyte level, full charge and terminal connection cleanliness) are the key to long battery life..... John