You won't be able to declare bankruptcy, if your debt is $10K and your truck is worth $40K. You are considered able to pay your debts -- and you ARE.
My advice: Sell the truck. Take whatever loss you have to (though it sounds like you have some time to get a good deal on it), buy a cheap truck and pay your debt. Since you're not in a hurry to sell the truck, you will get more -- then turn around and find someone who needs a fast $4K for something that will do the job for you, while you make your best deals with the card companies.
Not only will you feel better about it, you will also not take the hit on your financial record that comes with bankruptcy.
If you have several cards to worry about, go to the one with the least debt, make your best deal, pay that off, then go to the next-smallest, same story.
Consider also that there is a LOT of empty desert. You can give up the paid space and go dry camp for a few days, haul into town (or the nearest rest area) to dump your holding tanks, then go back out onto the dirt. Mash your trash, bag it, haul it to the dump.
One guy I know bought a small "recreational" lot on ebay, 5 miles from town, and put in a small septic system (enough for his RV). He has solar panels and a small genset, pulls a water tank trailer into town to fill up, and the whole setup cost him less than four months RV park rental -- INCLUDING the land.
10K really isn't a lot of debt, way below the average. You can work your way out of it.