I have said it over and over, no, absolutely no reasonable truck driver wants to replace a windshield. Their windshields cost as much or more than ones for an "A". I believe in the make eye contact rules, make contact with approaching truck operators and move to the right as far as you can. Try it and see how many of them move to the right also.
My point is they are pros and need to roll, not stop for a police report. Give them the benefit of your driving for recreation and let them roll. The old Treat them the way you want them to treat you, rule.
I have received help from some and unless the truck on the shoulder doesn't have a driver on his cell, I slow down and let them know I will stop if needed. Of course they could clean up the CB chatter a bit.