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The models in use in Autoware.ai generally assume a 4-wheeled vehicle with Ackerman-style steering. If your trucks match this description then there should be no major problems, though most control algorithms will require tuning, no matter what type of vehicle you use.

Also, this is a very broad question because there are many definitions of the word "truck" and because you don't specify which packages you're asking about. Autoware.ai contains many interchangeable packages for many purposes.