I feel your pain- we live somewhere where we really need a high-clearance vehicle and bought economical cars instead, and we really have missed out on a lot of great backpacking etc.
I would keep your current truck and throw in a few upgrades unless you really are miserable with it. It sounds like it does most of what you need it to do; it’s just not fancy. A short commute isn’t worth it for a second car- maybe for a really nice bike, though and four miles it the perfect bike commute:) Then you will have another toy and a more fun commute.
Yeah really only makes sense if you’re in a situation where you’d have to Uber or something everyday twice a day instead (Which it doesn’t sound like is the case). Get down to one vehicle and just knocking down those insurance payments feels great.