I do not think any company will allow 3 people in a truck due to lack of seats and seat belts. Plus they probably wouldn't want it due to lack of space, even though your related it's one thing to say your OK with it, it is a completely different story once on the road.
It's not illegal to have three people in a truck, but it's going to be a stretch to find a company that allows it. I would check with Covenant, CRST, and maybe the Hobby Lobby private fleet.
I thought Swift was doing that at one point. Maybe someone working there knows for sure.
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I have been driving for 4 years and my wife is thinking about getting her CD to team drive I need to know of any company that will let me train my wife as well as bring our 10 ur old with us