At one point of the episode, around the 2-4 minute mark (Depends on if you are including the title screen as time), you will first see the trucker at the bar, giving Abe a lecture. At the end of the episode, it shows Gandhi's flashback of the events with the trucker, who was really a ghost. However, when the trucker was first at the bar, Abe, Joan, and Gandhi all saw and heard him, and this is confirmed by Joan's response to the truckers' story of the officer who went right off a cliff, which is also a part of the scene at the bar.
Also, one of the flashback scenes show Gandhi pouring gas onto the ground, assuming he saw the truck there. However, if you look on the left side of the screen, you will also note a gas station attendant looking on in confusion at Gandhi. This shows that the ghost was not seen by someone other than Abe, Joan, and Gandhi.