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You'll need to disconnect the panels when the truck isn't "on" or the batteries will cook. Either that, or get a charge controller.
Since the battery is always nearly fully charged, you'll get little benefit from the panels when the truck isn't on. Not only that, but a nearly full battery wastes more than half the energy while being topped up.
The truck may be able to serve all the electrical needs while driving if the HVAC and all lights are off. Otherwise. Even then, the alternator may still run.
My Acura has a base load of almost 200 watts with all accessories "off".
You're not going to measure any fuel economy benefits with this implementation. I think the only way you'd notice an improvement is to get a deep cycle battery and disable the alternator. You will want to keep an eye on voltage though and re-enable the alternator if it goes too low.
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