They could sell you a prepaid tag, and you could get change back or reconcile its unpaid balance when you returned it. This could all be accomplished at a vending machine, or at a car-rental counter, or any number of other places.
>But nobody looks at that footage 99% of the time.
A truck can be trivially detected and distinguished from a car. The S/N of the tag detected can then have the proper amount deducted.
Or just put a sign on the vending machine, "Not for Trucks"