Yes you're right I'll try to explain my setup
The soldier has two normal waypoints (not far apart) :
On the first there's a dofire to make him kill the driver .
On the second one there's his assignasdriver and ordergetin commands
The driver is init with moveindriver, and has one normal waypoint . It doesn't start very far from the soldier, the truck is a empty unit, set as unlocked
There's a trigger "not alive thedriver" synchro with the soldier's first waypoint, it also resets the truck damage just in case
I tried what you said but even in careless mode he looks confused, saw him walking against the truck as he didn't see it.
Other things I tried is some disableAI or a "dude reveal ural" but no success either Â