reccomended brake fluid is Dot 3 on the d40 and dot 3 is also filled at factory, on a standart truck dot 4 is overkill since you are not exactly drifting (dot 3 and dot 4 differance is that dot4 has a higher boiling point but dot3 is more than enough on everyday usage and thats what they use from factory)
you can use dot4 if you think its worth the extra money but it will be a pain to remove and flush all the old fluid, they must never mix!