You can GUESS by reading some part numbers off the emissions devices attached to the engine. The "prefix" is the model and year first produced for that particular part. Emissions parts tend to change frequently. The model year is the first two digits. E.g., F9=1999. F6 = 1996. E4= 1984. See the pattern?
Obviously, your truck didn't come from the factory with parts from a future model year. So, find the youngest parts on the engine.