My V90 does the same every now and again but think as techwatcher states the system doesn't know your intentions. I also think it's connected to the angle you are returning to the middle lane (in your case). A sharp angle will allow the cameras to "see" the truck, whereas a more shallow angle (and allowing yourself to get past the truck) will avoid this I've found.
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MY19 V90 R-Design D4
Osmium Grey
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