The driver cleared the truck with lots of room to spare. In fact he DID NOT go underneath it, he went around it.

At 0:08 minutes into the video the cab is already jacknifing to the right before it hits the right side wall and is fully folded against the right side of the trailer at 0:11.

At 0:13, the critical frame of the video, the car appears at first glance to miss the truck by inches. But I think it was already well past it at this point.

Look at the front upper left corner of the trailer and follow the edge down to where the front left lower corner should be. Now look at the rear left lower corner of the trailer and follow the line that is the left lower edge of the trailer until it intersects with the first. You'll begin to see that line emerge from the smoke as you do so. The line on the road will aid in positioning the lower left corner of the trailer.

Now observe the position of the SUV, remembering that the cab of the truck is not ahead of the trailer. Also, look how small it is compared to the trailer; smaller than it should look if the two vehicles were side by side in my opinion.

Now with all that in mind, watch the close-up beginning at 0:21. The shipping container has begun to separate from the trailer. Between 0:22 and 0:23 you can see for an instant the SUV's taillights BETWEEN the container and the trailer deck underneath it.

The SUV was already past the truck. In fact it did not even make any evasive maneuvers; there looks like a shoulder or walkway it could have gone up on if the truck was in front of it and who among us wouldn't have hit the wall trying to avoid that truck if it was inches in front of it?