If the truck is like other vehicles I'm familiar with, only the "front" O2 sensors are actually responsible for mixture control. The "rears" just check that your cats are working.
Lots of carbon usually means running rich. Either the PO floored it alot, or you might have an O2 problem. A clogged air filter won't help - it may have been running rich a lot for the PO.
You might want to make sure that you reset your DME/ECU. This might be done by disconnecting your battery for a while (30 minutes? Every car is a little different). This would get rid of any fuel trim or other settings that may have been caused by a clogged air filter.
What kind of gas do you run? Maybe try stepping up one octane rating and see if you notice any kind of improvement. Again, resetting the ECU after changing octane is the best/fastest way of making sure your engine is adapting to the new conditions.
Tailpipe carbon alone in no way suggests that you need autorx but it can't hurt (I liked it). Redline SI-1 and other cleaners may help clean up the combustion chambers etc... A "steam cleaning" with water through a vacuum line might work better and faster. Inspect the chambers through the plug hole to determine if you're just wasting money on more cleaners.