96' 460 F-350 clutch issues

Afternoon all,

First time here for me.  I have been working on my vehicles when needed all of my life.  From front to back and top to bottom.  I have done several clutches in my time but never with a hydraulic clutch (master and slave cylinder).
I have a 1996 F350 with a 460 cu in. in it. 4WD as well.  It has 150K miles on it.  Never replaced the clutch.
Question.....When I just barely start to let the clutch pedal off the floor the clutch hooks up.  There is absolutely no pedal left.  Down shifting has become a bit grindy at points depending on my speed.  Should I just get a clutch kit(clutch, pressure plate, and throw out bearing?  Or should I look at the cylinders first?  Not too sure how to determine if the cylinders are the problem.  if I have to purchase a kit, can someone recommend a good kit for the truck?  Where to purchase also please.
Thanks all for your time.

Sid