Certainly anything underneath a 15+ year old truck could be rusted and need to be replaced. I am not sure this would cause a frozen caliper unless some actual large flakes of rust got into the line and down into the piston. I could certainly cause a caliper that wouldn't move because there wasn't enough hydraulic pressure to push it. You would notice that your brake fluid needs topping up if that was the case, not to mention some oil spots on the driveway.
I would look to replace the hoses if there is a visible leak somewhere between the fitting to the metal pressure line and the banjo bolt where the line attaches to the middle of the caliper. If it's not leaking, I generally don't care how rusty it looks. Here in New England, everything under the truck is rusty if it more then 6 months old. If it's not leaking, there may be some other issue with the calipers.
That being said, the hoses are not expensive parts.
For a front driver side hose on a 2002-2005 4.6L 4WD:
ACDELCO Professional 18J4092 Front Left Hydraulic Hose ($9)
DORMAN 13947 Hydraulic Hose to Caliper Banjo Bolt ($3)
DORMAN 484188 Hydraulic Hose to Caliper Banjo Bolt Washer ($0.70)
Make sure that you look for the correct part for whatever vehicle you have, the above is just an example.
This comes to less than $15 per wheel. I like ACDelco Professional parts but you could get Raybestos or Sunsong if you prefer. Even the Motorcraft pats is less than $25.
If you are going to do this yourself, the most important thing is to make very sure you can remove the old hydraulic flex hose from the fitting to the metal pressure line without breaking it (the metal line). The metal lines can get rusty and brittle as they age. Plus, they are not exactly hefty to begin with. Spray the nut on the fitting with PB blaster (or whatever you use) and let it sit for a while (or a day). CAREFULLY try to loosen the fitting with a line wrench or box wrench. Make sure that this will come loose on all of the hoses that you are going to replace. If you break the metal hose, you will be having your truck towed to the garage and will be in for more repairs to replace the metal hoses.
You will have to bleed the new lines and calipers after you replace the hoses. Make sure you are familiar with that procedure and have everything you need on hand.
I have never used a mechanic that will not let me bring my own parts. If you have a good mechanic like this, it should not take more than 1 hour or so to replace all 4 hoses unless they are very rusty and stubborn. It would be a good use of $100-$125 to pay a mechanic to do it if you are unsure about doing it yourself. You should still be well under $200 for the whole job inlcudeing the parts.
Just as a matter of interest, did the tire store offer to do the job and if so, for how much?
LMHmedchem