Sounds like refinancing to get your interest rate and payment down are a good idea, but not sure about turning your truck note at 0% for probably less than 5 years into a 30 year debt.
You're also paying a higher mortgage interest rate for a "cash out refi". Have you looked at simply a "rate/term" refi?
Look at your other options here, sounds like you're on top of your budget, so that's good. Look at just rate/term refi for 30 yrs, 20 yrs and 15 yrs, plug the numbers into your budget and see what that looks like.