The main question isn't what kind of truck you have (there are really too many factors there), but just how much clearance do you have. The same make & model truck with different tires, suspension, or other options can be way different in height.
You could do a standard NMO "L Bracket" mount for a standard 1/4 wave VHF antenna. That wouldn't stick up any higher than your roof. You could then even go with something a bit longer if you want. There are also springs available for many antennas that will allow some movement without damaging the antenna (although it may still break overhead fluorescent lights!). Be sure to trim the antenna whip as instructed if the spring is added since it will probably be part of the antenna.
There are also low profile antennas that are under 6" for VHF-Hi band (but watch the power ratings, many max out at 60 watts, not the 75 of your Yaesu). Also note that the low profile antennas are for smaller frequency ranges (and not easily tunable, if at all) so you'll need to get one designed for 144 - 148 MHz.
You could also get a through-the-glass mount, which would lower the mounting point for the antenna. These may be affected by window tinting or defroster wires that may be in the window so check this out before you go that route. They also have power limitations you'll need to check out as well.
Hopefully these suggestions give you some directions to start looking.
. I'm only out $7 if it gets bent. With the excellent ground plane provided by the roof mount performance was pretty good.
