I brake with my toe on the pedal. That allows for "feel" and a softer touch. Also, I visuallize stopping the truck so that I can see the axle of the vehicle in front. Allows some squirm room in case the guy in front stops suddenly.
I have one truck with 117,000 on the original pads before they were changed. I bought the '98 CTD and just changed the pads last week at 92,000. Right side was 50% down, the left front had a bad caliper and wore the outside pad to 25%, the inside pad was like the right side at 50%. The rotors were smooth so the previous owner was a soft brake pedal rider too.
Be sure the rears are set up correctly and use a soft toe.
IF you happen to be one who brakes hard in the last 100 feet, weight transfer will shift all the weight of the truck onto the front wheels. Rear wheel won't provide much stopping effort in that situation.