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You will either need to find the second key, visit a locksmith that has the tool to get in to the key programming mode, visit a shop with a scan tool and software, or go to the dealer.
For what it's worth, the Autel DS708 includes this function. If you find a shop with one, they should be able to do what you need. You'll need to get the key cut first though. You might want to consider having two keys made though so you will still have a spare.
No, you can have a key cut, but it must be programmed to YOUR TRUCK and that can only be done by you if you if you have TWO keys.. With one, you will need to go back to the dealer or locksmith with the programmer capability.