For a truck that gets used on and off road, Bilstein recommends the Bilstein 5100 series shock absorbers.
24-186711 For the front
24-186728 For the rear.
Those will both work on a truck with no lift and give you the best of both worlds when it comes to on and off road performance. Feel free to call use 1-800-358-4751 if you have any additional questions.