Keeping the tank at least half full might be harder for you than you think. People have habits; habits conflict with reality. I know my dad only keeps a tank a quarter to half full--only has enough to run a day's worth of errands. Something to do with gas prices, maybe doesn't want to fill up with expensive gas in case the price drops. Does it make sense? No--it doesn't have to make sense.
I could be wrong, but I think I've seen WM post up that another driving habit he has is to shut off the power after starting up. You don't have the fuel pump or alternator operating, but everything else is mechanical. Lights can run off of the batteries. I have no problem practicing this habit during daylight driving.
Since it sounds like you've nursed the in-tank pump back to life, I would suggest that if you run into a low-fuel situation again, kill the power and head to a fuel station. If you run out of fuel, no big deal, you've got the electric pump cool and ready to re-prime. You haven't nuked anything on the truck either.