Make sure you're not sitting to low. Adjust the seat so your legs are bent at 90 degrees. Many truck seats have adjustable seats, the part you sit on can be moved forward for better leg support. I had a Purple seat cushion and back support. Try a cushion. You can also take short breaks and walk a bit to stretch out. You can also try stretching before you drive. You have to see what works for you.
Good luck.
Shane, make sure that your seat is not too high. If there is too much pressure for too long on the back of your upper legs, you will suffer. This happened to me when I first started. The back of your leg can touch the seat, but only very lightly. You should be able to easily slide your fingers between your leg and the seat. The only other thing I can think of is to stop more frequently and walk for 5 or 10 minutes. Some drivers need to get out and walk more frequently than others.
There's quite a few adjustments to the seat. In general, your femurs should be parallel with the floor, knees at a 90 degree angle, back straight. The angle of the seat part that butt sits on can be adjusted. Also, how close your feet are to the pedals. Adjusting the wheel height and depth are critical as well.
Most new drivers have a tendency to adjust the seat very high so they can see right in fro t of the hood. This is bad for several reasons, one of which is you go where you look, so looking up and seeing the big picture is key. It also can put stress on your back and legs.
So can putting the seat too low. There's a happy medium fir each body type. I'm 6ft tall, 165 lbs with very long legs. I tend to have the seat higher but that's where my legs sit parallel and knees are bent correctly. It all comes down to your body type.
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I am new to the industry, but it hasn't taken long to figure out my backside and back of my thighs are killing me. I don't have anything in my pockets, thanks to the forum advice, have the air ride set up as described here too. I still have my butt going numb. Any seat suggestions? Is there anything out there besides heat and cool, because that doesn't help at all. Desperate. Thanks - shane