I use for truck for the following: -Hauling hay -Hauling feed -Pick up and deliver other things (groceries, hardware, etc.) Would this consider my truck "for hire"?

WEre you paid by someone for the use of the vehicle? (same as one would pay a taxi driver). If not, then the vehicle is not for hire.

Yes I was paid for using my vehicle to do those things

No a vehicle for hire is a vehicle providing shared transport, which transports one or more passengers between locations of the passengers' choice.  Passengers generally choose their starting and stopping locations. Vehicles that are Taxi or Uber are examples of for hire vehicle

When it asked if my vehicle was for hire it said "this includes things like hauling, taxi service, limo service, etc." I used my truck for hauling, so how does that not qualify as being for hire when I haul things for money?

Using your truck and being paid for hauling goods or property does qualify as a vehicle for hire.  According to the IRS a vehicle for hire includes vehicles  where substantially all the use is in a trade or business of hauling persons or property.