Have the controls for the truck at a remote site like they do with drones in the military. The “driver” would have video of what is happening in and around his truck. He would also have overrides for the controls. But most of the intercity driving would be done by the currently existing smart cruise control, proximity sensors and the lane line controls. This is such an obvious next step that I have to believe that it is already being tried.
Imagine a truck that doesn’t have to stop to go to the bathroom or when the driver gets tired. Imagine that the driver can sleep at home every night. Imagine that as the system improves and confidence in it increases that the “driver” can control/monitor two or three or four trucks. Maybe the “driver” would be called a “pilot.”
Almost all of the technology for this innovation already exists. It needs to be more robust and flawlessly linked with excellent fail safes built in but it would be possible to make an MVP (Minimum Viable Product) with what exists.