Yep, the rear bar will fit from '73 to '91.
As mentioned, the floor is different from '73-'77 than from '78-up, so the old front stuff won't drop into the newer trucks.
One thing to note though is the back floor is, I donno, waffled, corrugated, whatever you wanna call it. IIRC the factory ones had plates under the floor which weren't flat, but had ridges to mate to the underside of the floor, and then bolted through.
If you don't get the original set with the bar, they're easy enough to make if you can cut steel plate, and ideally weld some flat stock on top to mate with the floor. Otherwise you'll crush the floor corrugations when you bolt the thing in.
And just bolting the feet to the floor is no bloody good -- the bolts will just tear out of the floor with any force applied. You want to spread the force out evenly across the area of the whole foot.
Hope that makes sense.
-- A