It is a good idea to balance the tires every time they are rotated, but not required.
It is a good idea to check the alignment every time they are rotated, then align as needed, but not required.
You got "sold". An uneducated consumer is a salesman's dream. (service advisers are salesmen too)
You will know if your truck needs work. If the car vibrates at highway speeds, or shows signs of weird tire wear it is time for balancing. If the car pulls left or right on the highway, or shows signs of weird tire wear it is time for an alignment.
Go to your local National Tire and Battery. Buy their 3 year alignment deal. It is like $150, and any time you want for the next 3 years, have your alignment done. I usually do it every summer. Shops like that do free balancing for the life of the tire if you buy the tires from them.
My 2018 has 16,*** miles on it. i have personally rotated the tires (including spare) 3x now, and changed the oil 3x. In 10 months, i have not visited the dealer since I bought my truck. Do everything you can yourself and come here to ask questions. you won't get "sold" like that anymore.