If you look at about 0.26 and onward, it surely looks like the car had a flat or broken T rod, , unless it was intentionally trying to hit the truck, as it was the 2nd and more forceful turn into the right front tire of the truck that sent it into the guard rail. Thank God is right that no serious injuries resulted.
Looking at the 16 sec point there is a little more leadup video. What’s notewothy is that the trailer seems to be exiting the far right lane in the first frame. I wish we had more of the before video but it looks like the truck’s lane change may have been part of what happened. Perhaps the truck lightly tagged the car’s rear bumper as the driver decides to whip around the car at close range.