It's never actually been used as a truck motor. It was initially concieved as one (and bears no relation to the V10 they did offer in pickups for a while) but they then discarded the idea and it has since been modified greatly for sports car use.
I've always heard that the big problem is that it's a V10 and it is very hard to get a V10 to sound good due to the natural firing order. Hard, but not impossible, with the right exhaust I think the factory has gotten some model years to sound pretty good. I remember reading an interview with one of their engineers about the difficulty they had with that, I'll see if I can find it somewhere. And obviously the Gallardo sounds halfway decent also.