OC Sheriff's Department spokesman Jim Amormino said the man turned into the Ralphs store parking lot from El Camino Real Road at an "unsafe speed." The front of the vehicle was wedged under the delivery truck.
Crews extricated the man after about 35 minutes, Amormino said.
"Because of the make of the vehicle, I do not want to speculate as to what caused the accident," Amormino said. "There is no evidence of skid marks, which means the driver, apparently, did not brake before the collision took place."
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The crash occurred at about 8:30 a.m. The 44-year-old victim was airlifted to Mission Hospital in Mission Viejo.
KPCC reported that the vehicle's model year was 2000. Only 2005-2010 model year Tacomas were among the vehicles involved in Toyota's recent recalls.
"If this was a Chevy, no one would care," Amormino told KPCC.