All I will say is this...
Truth does not necessarily mean "one way." I am quite sure that the word "truth" means something quite different to different people. It's the classic elephant and blind men story... One blind man feels the trunk and says "It's like a tree." One feels the tail and says "It's like a rope." One feels the side and says "It's like a wall." The "truth" is that they are all right, and all wrong. They are all working with limited minds and senses to understand something that, for them, is incomprehensible. I believe God is beyond comprehension of any human, and thus we are all catching only glimpses of God.
Worshipping in truth could mean, for example, to worship in what to me is a pure sense... to worship knowing the truth about God and one's relationship to the Divine. For me that has been to realize that I shouldn't be following a path to get a "Get into heaven free" card. I should worship God because the Divine One is worthy of it no matter what. If all I ever got was one moment of this life on earth, God is worthy of worship. For me, worshipping in truth is dropping all my expectations of what I want God to be, the assurances I want about death and suffering... and just being in God's presence, praising God, because God wrought the miracle of my creation and the joy I have in living.