At some point, you probably do. But you can control when you give the statement. You only want to give a statement after you have had some time to reflect on what happened and only when you are not in the grips of pain.
Do not be surprised if the trucking company has an investigator on the scene of the crash soon after it occurs. Trucking companies do not want to pay money to injured victims unless they have to, so they thoroughly investigate crashes. In truth, the investigator is also looking for information they can use to show that you are to blame for the accident, which would relieve them of liability.
If an investigator approaches you at the scene of the accident, take their card but do not speak with them. Tell them you aren’t feeling well and that your attorney will be in touch.