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Using another person's property for purposes other than what the property is designed for would be trespass (the wrongful interference with another person's property interest). However, picking up a driver at a private location and taking them to another location for an exam would not be a trespass so long as you are not using the truck stop for any other purpose.
To conduct this business on the truck stop properties lawfully, you will need to seek permission of the truck stop owner.