Sorry for the beginner question, but again, I’m terrible with relays. In your diagram, which wires are grounded? Is the (-) missing from the other side of the battery?
Yes, the lower sider of the battery would be grounded. That's the standard symbol for a battery and the smaller bars represent the negative.
I would guess that you would connect the four relay terminals that need to be connected to negative to the vehicle body as that would be easier than connecting to the battery negative terminal
A battery won't turn off when you turn off the vehicle, so I would expect that you would run the whole lot from a fused vehicle supply that turns on when the truck turns on. You could connect to the battery but it could risk flattening the battery if you left a switch turned on and didn't use the truck for some time. You should always have a fuse near where you connect to the power supply.
I'm assuming that it's a vehicle with a 12 V battery and that the negative is connected to the vehicle body, but as
the vast majority of vehicles made in the last 50 years is like that, it's probably correct.
However I have had three vehicles for which it wouldn't have been correct.
1) Motorbike - 6 V electrics
2) Reliant - fibreglass body panels which couldn't be earthed but it did have a metal chassis that was grounded
2) 1953 car - positive earth