Wait for one of the warmer days and get under there with a hose. Nothing beats thouroughly washing out every nook and cranny of the underbelly with a nice high-pressure stream. A lot of salt, mud and funk can accumulate under there, especially if you off-road or drive in foul conditions.
I'm particularly anal about ridding the truck of any and all road salt and crud during the winter...
An ounce of prevention is worth a pound of cure when it comes to rust and corrosion prevention!
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2001 Solar Yellow SE 4x4 V6 5spd