I doubt one run in with this will cause any damage, but I can't say 100% for sure. I know vehicles go for years and years without ever seeing any damage from this stuff. But then there are cars with very little miles on them and are completely torn up from it.
If you know someone with a lift, you can use it to get the truck up in the air and get an all purpose cleaner or degreaser. Soak it down, scrub where you can, then pressure wash it all off.
Wish I could be more help, but we really don't mess with that stuff too much down here, so I'm no expert on it. Sorry.