Reading your comments and others, and your info on income, it sounds like you are doing OK and that's part of the "problem". When I am doing ok I feel no great need to create perceived pain for myself. In your case you aren't upside down on your loan, you have some (some!) savings, and no credit card debt.
But what I frequently have to do is go, where can / should I be? Taking a step back I'd look at it objectively. You don't have a lot of savings. The truck represents fixed (payment, insurance) and variable costs (fuel, etc.) that are much larger than just the truck payment, and much more than a reasonable alternative. You aren't saving a whole lot for retirement (though I will concede, probably more than the average person). And you have a child with medical conditions. Based on the info you provided I'd look at the truck as a waste of money and more importantly holding you back from where you could be.
I love trucks and used to daily drive them but after really looking at it, it's a waste of resources and generally much more expensive than a reasonable alternative. It sounds like you definitely have some borders you can't cross, like having something that isn't reliable (not an option with certain jobs) and can't make it in a snowstorm (though your username suggests that you don't have to deal with intense winter weather?). But there is a world of stuff you can downsize to and have little to no true pain.
My last truck was great but got 12 MPG. I downsized to a small car and a utility trailer. I am saving about $200/mo with this move, and probably more because of my intense desire to modify / restore / rebuild everything I own (the truck needed work).
For times I need a truck, I'll rent a U-Haul truck or van. $19.99/day and $.60/mile if I recall correctly. I have this mentality that I hate to rent, borrow, beg, but I'll be honest, paying $100 bucks to rent a brand new van was kind of nice. Cheaper options exist too. Menards (hardware box store), Lowes, Home Depot, at least in this area, all rent trucks for around $19.99 for the first 60 or 90 minutes.
Just some ideas.