Is it reasonable to simply adjust the brake itself, the 17mm bolt, with out lifting the truck to check clearance? Mine pulls up pretty far and if I tighten the bolt a modest amount, drive it listening for rubbing, wouldn't that suffice to with out lifting the entire truck?

Is there an easy way to tighten it up a bit?

 

I have better results adjusting the nut under the ebrake handle itself, but that's just me. If you look up from under the D1/D2 you'll see the threaded nut on the cable. It will remove or add slack to the cable depending on how you adjust it.

 

+1 for how @Best4x4 mentioned.
You don’t have to make the e-brake cable totally taught. I used a pair of pliers and pulled hard on the end of cable and tightened the 13mm nut. After that I couldn’t get the gear shifter back into Park after driving. I had to go back under and give the e-brake cable a mm of slack.
Worked fine after that.

 

Thanks, ill give that a go