It is normal to put two 12V batteries in series on a 24V truck system and have them charge with 28V
And if both batteries are in the same condition, they usually end up with about the same 14V across them.
But if one battery is much older then the other and internal resistance has changed, one battery can charge up to a higher voltage than the other.
There seems to be a definite imbalance between the two batteries and you might replace them with new and of the same type.
15.1V is for sure to high.
What is the charging voltage across both batteries, when the truck is running at a rpm above idle?