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I would recommend using a charger to fully restore the batteries then load test them. Just starting the truck with jumper cables and then letting the alternator charge them will not fully restore the potential of the battery.
I have a charger here at the house, how long should i charge both batteries for? Do i have to disconnect them or leave them like they are and just attach the charger as is?
12v...... and make sure you have enough fluid in the cells.... I would remove those caps and depending on the charger you have, charge at anywhere from 2-10 amp setting. If 2 amp is available, for about 8-12 hours. If only 10 amp is available, 2-4 hours at a time.