A short jaunt around the immediate neighborhood, sure. I've done it myself. A few weeks of driving it around, and your likely to run into a LEO or a neighbor that just won't appreciate what you doing like Kevin mentioned.
You can run the engine in the driveway to test for normal startup/warm up and systems checks to verify no leaks, the charging system is doing it's thing, etc. You'll know if the brakes work, the clutch feels and sounds right and so on, plus if it's close to home and you find a problem, it's a very short trip to get it back inside without finding yourself stranded somewhere too far to easily get it home.
On another thought, not driving it around too much where some rubber-necking yahoo can get distracted looking at your truck and cause an accident with your truck or others, is a big ounce of prevention I'd take into consideration.
