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Where did you think the Vigoroth/Machoke were riding? They couldn't all fit in the front seat. Obviously they were stored in Pokéballs on the belt of the person driving the truck. Why would the person need to bother to coming out of the truck anyway when they have Pokemon to do all the heavy lifting? Or maybe the mother was driving, didn't want to sit next to their child, so she put him/her with the furniture, and the Vigoroth were her husband's.
I imagine maybe only the more humanized Pokemon can? Maybe the ones with more Intellect.
...it's hard to picture a Pikachu driving.