That truck has a vacuum pump instead of using engine vacuum for the brakes . Unless you notice some shortfalls in the braking efficiency,I would not worry about it.
What is happening is you are using up all the vacuum in the system and the low vacuum sensor is turning on your brake warning light. If you think your brakes are becoming hard to apply your vacuum pump may have become weak and will need to be replaced . It can be checked with a vacuum gauge it should build 20 inches of vacuum in 1 second after the engine is started. If not it is not up to snuff and should be replaced.