Looking over the schedule, there will be a rather significant break between qualifying at 1:40 (scheduled to end at 2:30) and the race at 5:00. For the trucks, it is an impound race, which means there is (virtually) no authorized garage activity between qualifying and racing. The entertainment portion of the weekend schedule isn't out yet, so depending on what that is, you may well be better off showing up for just the race.
You can bring your own food and drink (possibly including alcohol) into the grandstands, but any cooler is limited to 12"x12"x12". Also, as long as you remember to have your ticket scanned "out", there is an unlimited re-entry policy, so you can pack a more substantial meal and leave it in a larger cooler in the car if you're making a full day of it.
Pocono is the original roval as the three corners are vastly different. Have fun.
One more thing - bring binoculars. While you can see the whole track, it is 2.5 miles long, so turn 2 will be quite a ways away (3,000-3,500 feet).