If that's the main route you take and you don't drive it much more than this you should get a battery maintainer. My normal commute is around 12 miles which isn't enough to charge the battery so I bought the one below from Ford with my points. It's a Ctek one rebranded for Ford and you can also buy it on Amazon cheaper. I also bought the longer extension lead so I could hard wire it and just quick connect it once home.
Vehicle manufactures have done a number of things to reduce weight and thereby improve fuel mileage. One thing done on the Ranger is using a smaller, lighter AGM battery (as compared to old, lead-acid batteries). The Ranger, like most modern vehicles, has a smart charging system. It monitors the battery's state of charge (SOC) and the electrical demands placed on it and the alternator. Given the smaller size of the battery, it will monitor the battery and shut off electrical systems to make sure it has enough juice to start the truck
The only real discharge of your battery is when you start the truck -- all the juice to run the starter comes from the battery. Once the vehicle is running the alternator recharges it quickly. Unless there's something wrong with the charging system or battery, your daily commute should be more than enough to keep you battery charged.
The easiest way to know if your battery and charging system is working is...............does the truck start each morning.