Most truck stops have DEF at the pumps so you can fill up the truck's DEF tank. Some Shell gas stations have added DEF at the passenger vehicle pumps and they use a smaller nozzle than the truck stop pumps which makes it easier to manage the flow.
Towing I get about 750 miles per gallon of DEF and know when I need to add more to the truck. DEF usage is a percentage of diesel burned so less is consumed when not towing and the vehicle's fuel consumption per mile traveled is less.
These are "emissions control" devices and in some states (like California) it is covered for far longer than the standard manufacturer's warranty by law. Check your state's laws before paying the dealer for work on the DEF system.
Good part about DEF is that you can go longer between oil changes as it greatly reduces motor oil contamination from soot.