Tried Enzite?
The steel in many truck frames is of a grade that the manufacturers do not recommend welding. Some recommend cutting the frame, adding an extended pieces well beyond the cut and splice and bolting it all back together.
That being said, I've helped cut and lengthen many truck frames on pulp wood hauling trucks by welding. I've also stretched some formula fords and a few baja buggies - but tube frames are not that applicable here.
You should be able to use your own imagination to figure out what part of the frame gets the least twist and bending; that's where you want to cut it. Use mild steel of the same thickness and overlap at least 2.5 times the three inch stretch each direction. Saw cut the frame and the edges will be straight and easy to weld. You should bevel the welded edges on the extension pieces and the frame with a grinder. Big gaps you have to fill put too much heat in the area. Weld a flat piece vertically in the opening. Then use a torch and hammer to bend the piece to the shape of the frame. (If you don't have a pre-shaped piece) then you can make the horizontal welds on the top and bottom. Ideally your gusset should fit just inside the frame and you can use rosette welds if you pre drill the holes. You can grind the welds on the outside and no one will be able to tell it has been cut. Add a longitudinal stiffener on top or inside of the frame and then box the frame if you like. Do not use one solid bead of welding on the inside gussets. Space them .5 to 1.0 inch apart. Adding an extra leg from the roll cage (assuming you have one) on either side of the repair will just make it stronger.
If you can find out exactly what the metal content of the frame is - IDK - your local welding shop can set you up with a good rod to use.
Send pics of the finished project.