The problem with “post event analysis” is that it is just that, post event. You know the outcome.
In the real world, trucks arrive at T junctions several millions times a day. if every time you saw one, you performed an emergency stop, you’d never get anywhere at all (and you’d get rear ended all the time too, ooh matron….. 😉
So, regression to normality becomes the significant factor in (near) accidents like this. In fact, i think the driver did ok. He was driving at an appropriate speed (imo) and when it became clear the truck wasn’t going to stop, he brakes under control, and remembered to steer out of the way )amazing how many people just brake and then drive straight into the object, even when they could have just driven around it!)
I think a fair proportion of distracted drivers on our roads probably wouldn’t have even spotted the truck at all and just driven straight into it……..