If you can determine if it is coming from the rear you might try removing one outer rear wheel at a time and turning it 180 degrees then driving it to see if it helps. You can do this to the other three until hopefully it gets better. This can orient the wheels so the out of round or out of balance on a dual set offsets each other. I have also found the tire that is out of balance and had luck with de-mounting it and rotating it 180 degrees on the rim and trying balancing it again. This may offset a tire/rim balance problem, again helping each offset the other.
Is it possible the truck has sat in the same place for a long time, making the tires develop flat spots? If so, they may come out with time or rotating one rim 180 degrees on each dual set as mentioned above might help until they do. Unfortunately if those attempts to solve it with little cash outlay (hopefully you can do the wheel removal and replacing yourself) does not work you will have to spend the $ to do something like what JasonO suggests.
Regards Martin