It's always easy after the fact, we already know to look for a truck in the lane so it's easy to spot. Most accidents are avoidable if you know what's going to happen before it does. It was dark, raining, a turn, and an unlit vehicle. Be that as it may I think it would be best to get a lawyer but I wouldn't expect this being more then a 50/50 fault unless someone was in the other lane which your video doesn't show, if anything it shows you failing to keep right.
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