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Grand Theft Auto V Walkthrough Trash Truck

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Drive over to the Trash truck location and then walk up to it and steal it from the driver. Doing this will net you a 2-Star Wanted level, so immediately exit the Trash truck (leaving it behind won't fail the misssion) and look for some safe cover from the cops.

"After evading the cops, take the Trash truck and drive it over to the FIB lot.