There’s no reason to believe that one will be less convincingly controlled than the other.
That said, because of the semitruck’s significantly greater mass, it is more likely to be deadly should something go wrong.
Automated semitrucks would be able to much more precisely adjust for expected delivery time and would never travel faster than needed to arrive at it’s destination exactly on time, balancing factors like speed limits, fuel economy, safety, etc.
A question: Who’s gonna fuel it?