Absolutely. I installed a factory remote start last winter and I have the instruction on a PDF file on the computer. In a nut shell, there is an option for a 30 second delay for the GP's to cycle and it's just a matter of turning that feature on. You can't adjust the delay time, it's preset to 30 seconds only. Shoot me your email address and I'll send them over if no one else gets them to you first.
How long should one wait for the glow plugs if starting normally? I bought the truck used so I'm assuming at 90k miles it's a little to late to be worried about glow plugs.