There's no general state employment law about that, that I know of. However, I can't tell you if there's a criminal law, nor if there is some federal regulation of truckers.
It would depend on where you leave it. Leave in the middle of I-75/85, yes, that would be a crime. Leave it in a legally parked area. No, I do not think it would be illegal, but it surely would cause you to loose your job.
It is not illegal for you to leave a vehicle. However, you must be cautious that you do not incur liability for abandoning a vehicle that was placed in your care, so I would recommend against just walking away and leaving a company vehicle. As a worker you are entitled to be reimbursed for reasonable expenses such as fuel for a company vehicle. Better to put enough gas in it and return it then seek reimbursement for your time and fuel costs through the wage and hour laws.
If it is their truck, while I would want more details, if you look at labor code section 2802, the business is responsible for paying all work related business expenses, not you.
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