There are huge differences in the emissions systems in recent years. Depending on the year he may be hurting nothing but the fuel bill, may be slowly causing much more frequent regens or worse (early dpf, pre def trucks), or just using more fuel and urea.
Bottom line, in an 08 and up truck that is driven normally most of the time, with decent runs on the highway to allow full regen, 10-20 min idling here and there don't matter. These newer emissions trucks don't just up n die in stop n go traffic if the emissions is operating correctly and otherwise driven hard enough to regen.
With the advent of urea injection the last 5 years in light trucks, their tolerance for idling and light driving has gotten much better.
On the flip side, no reason at all to let them idle unless it's extremely cold or circumstance dictates. Tell your friend to shut his truck off!