1/4 whip.
There are "compact", "disguise" and similar antennas. They suck. People will try to tell you they don't suck. They do very much suck. You can buy one and give it a try, but make sure you have a trash can close by since you'll want to throw it away after a day or two. Better yet, just send me the money and I'll save you the hassle.
The amount of clearance from the roof of your truck to the obstruction would help, if you can provide that. But as Cheif said, 1/4 wave antennas do just fine. My dad has a 2019 Chevy Silverado 4x4 and a "normal" size two car garage. He stopped on the way home from the dealer and I helped him install the NMO mount and the 1/4 wave antenna. Since day one, that truck has always been in/out of the garage without any issues, no damage to the roof, no damage to the antenna, and no damage to the garage.