This is most definitely not normal and could result in $$$$$ repairs. Looking at the fluid level in the overflow/expansion tank doesn't tell you how much coolant is in the radiator. It just tells you how much coolant is in the overflow tank. If the overflow tank is empty, you will need to remove the radiator cap (after the engine cools down) and look in there to see if there is any fluid visible. It should be filled all the way to the top. If not, fill it all the way to the top (in the radiator, not the expansion tank) with the 50/50 pre-diluted Toyota pink coolant. Take your time and check the level every few minutes as it could be dropping slowly as coolant finds its way into the engine.
Once the level seems to be holding steady after a few minutes, start the engine and let it idle with the front/back AC in max temperature and max fan. speed. Keep an eye on the fluid level in the radiator and keep adding if it drops. It's typical for the fluid to slowly drop as air bubbles come out. Or it could drop suddenly when the thermostat opens or if it burps a big bubble. You can massage the upper radiator hose to help get rid of air bubbles. Keep topping it off until the level holds steady and completely full to the top. Then put the radiator cap back on, and add coolant to the expansion tank all the way to the Full mark.
Only then (once you verify the radiator/engine are full of coolant) would it be safe to drive the truck without risking a very expensive overheat. Find the leak and fix it. You should see some pink crud wherever it has been leaking.
The radiator cap is just a regular cap. It doesn't have any kind of "overflow". The overflow port is built into the radiator neck where the cap goes. A hose goes from there to the bottom of the expansion tank. And the cap for the expansion tank has another small hose that just dumps any actual overflow into the ground.