Markedly different wear inside to outside? Sounds like your caliper sliders are seized. Not uncommon, especially if the truck has seen some use. Easy fix, just takes time, a wire brush, and a tube of moly grease.
Get new rotors. They aren't expensive so it's good insurance. Pull the caliper sliders out, thoroughly degrease, clean any surface rust with a wire brush or emory paper, regrease and install.
Probably time for a brake system flush, too. Again, not hard and not expensive. An hour and a quart of brake fluid. One man job if you have acess to a vacuum bleeder.
Brad