Yes. There are updates released for modules as they improve the programming or solve an issue.
If your truck is exhibiting symptoms that is covered by a factory publication (shop manual/troubleshooting guide, TSB, STAR Case, etc.) and your truck is under warranty the dealership will update the software for free (as long as the procedure tells them to do that). If there isn't an update available and you are having issues they can also reflash the current software version to see if it helps the issue (better download/install).
You can also pay the dealership to update your software to the latest version but that is a double-edged sword. It is nice to have the latest-and-greatest version of the software but you run the risk of having issues/glitches where you didn't before once the new software is installed.