Yes, ideally the "best" length for a car is a 9' whip antenna, best recieving power and convenient length, i.e. not too tall. But may I suggest a k40 or a Wilson 1000 antenna. They are not 9' tall because a few feet are coiled in the base, which makes them ideal to mount on the roof, which is the ideal location (highest point and centered in the truck). Remember, your ruck is the ground, so mounting it on the bumper or toolbox will give you a loss in signal from the metal cab "shielding" the antenna.
Any radio will do fine, it's not so much about the radio as it is the antenna. A more expensive radio just gives you better filtering, which is not needed as much in a higher quality antenna. Because all radios are capped on power output by law, so the extra price just goes to cleaning up signals, not making them stronger.
Just as an example, I have a 1980's cobra 40 channel that I pcked up for $20 with a wilson 1000 and I can talk and recieve signals 30 miles away. But, also mine is peaked and tweaked by a friend so the output is above the legal limit, but that only affects x-mitting, not recieving.