I would recommend changing the dampers whenever the budget allows. They do multiple things, and wear is more evident in some of their jobs than others. For example, even a fairly worn damper will do a decent job keeping the truck from 'porpoising' or continuing to move up and down after hitting a bump. But, the other job they do is control the 'release' of the tire back downward after it has crested the top of a bump. A lot of times that side of the bump actually feels worse than the going up, if the damper is not doing a great job. Shocks can be bad at that and still not 'porpoise'. The difference between an old and new shock is very evident on the 'harshness' of speed bumps (above a certain minimum speed, anyway), and if you pay close attention you will notice it has to do with the down travel of the suspension more than the up travel.
So weak damping of short/high frequency movements are a less obvious telltale of wear, that has a bigger impact on 'ride quality', than porpoising (long/low frequency movements) which is obvious but does not really contribute to the 'jitteriness' of the ride. Dampers'
failure to damp short/high frequency movements also contributes to the development of tire noise due to 'cupping' wear.