To push something you need to push against something, because the thing you’re pushing exerts an equal and opposite force on you.
If you’re on the ground you’re using your feet to push against the ground, but if you’re ON the truck then the push you give in one direction is cancelled out by the push of your feet against the truck, in the opposite direction. With your feet on the ground you’re exerting a net force on the truck, the two forces don’t cancel out.
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