To truely zero them on the spot, it might be a time consuming task.
You need to get the truck into a garage, tape some lines on the floor (masking tape or something) lined up with lines on the wall. Then place very thin tape lines (a plus sign) on your headlight.
Park the car straight on the lines, turn off the light in the garage, turn on the headlights and adjust with the screws mentioned above until the "plus sign" line up perfectly with the lines on the wall.
Also, I'm not sure how much "off" they are, but the driver side lights points slightly towards the passenger side so you don't blind the drivers coming the other way.
Give it a shot, but if you have trouble coming up with the lines, then find a garage that has them permanently on the floor and wall, they could do it in 5 minutes.