If you know for sure that it's only one bad battery, you can replace just that one. If all the battery's were installed at the same time and they're getting close on being out of life, I'd replace them all. Especially this time of year when it's getting colder, it really taxes batteries and will let you know when they're going bad.
Batteries have little punch outs to tell when they were installed. They don't always get punched though, a battery over 5 years old is pushing it. Always punch out the purchase date on a new battery or write it on the battery with a silver sharpie. Winter is no time to be out in the cold jump starting a dead truck.
Phil
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If one battery fails, so I have to replace them all? Or can I replace just one?