If the truck is a four wheel drive, then insurance could maybe cover it. Some policies do, and some other policies do not cover this situation. In northern states like Maine, New Hampshire and Vermont it's not all that unusual for a 4-wheel drive pick-up to go somewhere off-road including a frozen lake. Need to ask your insurance agent if your vehicle is covered for this lake ice situation.
With Allstate, there's two big hands that reach down from the sky and remove your pick-up up and out of the deep lake water automatically, no problem, and no questions asked ........

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