The color of the headliners isn’t gray, it’s “shale”. The material I bought below matched the visors perfectly.
https://www.amazon.com/dp/B0786ZHNWJ...91812054244-20
I pulled the headliner backer/board in my 04 crew. It was kind of a pain to get it out of the truck. Used a wire brush to remove the old foam and adhesive after pulling the cloth off. Like anything prep is key. I also used Permatex headliner adhesive on the new one.
You just need to pay attention and work it wrinkle free into the contours.
ETA: The quality of the material is awesome. They use USPS and the delivery and tracking has sucked ass. Regardless of what they tell you, you might have it in a month.