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Yes. But those trucks don't necessarily need human drivers.
Having owned an over the road trucking company for many years, I think I can safely say that as long as trucks travel the nations highways a human driver will always be needed. Driving a low speed vehicle on city streets is one thing, but piloting an 80,000#, 75' long vehicle down the highway is something entirely different. There are way to many variables to program, and AI isn't that advanced yet. They've tried rail/truck combinations but the nations rail system is in an equally sad state of affairs, and companies have been unwilling to give up their JIT inventory management. We had customers who gave us delivery windows of as little as +-30 mins before they shut down the plant and started assessing us penalties. Rail shipments can't match that kind of service. As long as companies expect a shipment to be 600 miles across country overnight while holding the truck at the loading dock for several hours while they finish up the order, there will always be a need for drivers that can adjust to changing circumstances. One of my best friends and neighbors is a retired UPS Regional Manager. The package delivery/scheduling software has been in existence several years now. And yes they're always looking for innovations, but to his knowledge the drivers aren't going anywhere in the foreseeable future either.
Lastly the "Insurance Lottery" on big truck accidents isn't going away. Lawyers all across the country salivate every time they hear of a truck accident, because they know it's not a matter of if they'll get something, it's how much. Being innocent in a truck doesn't keep you from paying out 7 figure settlements, because some idiot ran into you.