I thought about replacing my daily driver truck with a car and asked a similar question here before. I ended up with another truck. My situation and use is a little different than yours. I rarely need a truck but I'd rather have it when I need it than not have it. You might find that a SUV fits all your needs better than a full sized truck. Today trucks drive better and get reasonable fuel economy compared to older ones.

I'm not sure what driving habits you would have to modify.