Yu-Gi-Oh! episode 151: "An Unexpected Enemy"
The truck driver is a man, who gave Yugi and his friends a lift when they were hitchhiking.
While Yugi, Joey, Téa and Tristan were stranded in the desert, Téa stood on the side of the road, with her thumb up, while the boys hid. The truck driver arrived and saw her. He got excited when she winked at him and pulled over. Yugi, Joey and Tristan then came out of their hiding to join Téa. The driver wasn't impressed, but gave the four of them a lift in the back of his truck to the Industrial Illusion HQ.