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I was playing a game against orks where the ork player was take actions on objectives while still in his trucks. I was under the impression from the rules that is not allowed but he said orks could do that. It was a friendly game so I didn’t want to cause a fuss and continued on. I don’t know much about orks. Is this correct?

There are no Action rules in 10th Edition Core Rules nor any special rule in Index Orks that allows Orks in Trukks to take actions. Therefore the "action rules" in question will detail which units can do them.

For the most part, units in Transports are not on the battlefield and cannot do anything at all. It is possible that the action in question can be performed by the Trukk itself. Again, the action rules itself will detail what units can perform it.

As a rule, if someone does something you doubt is legal, ask them to show you the rule. You can forgo that to be friendly, but that leaves you coming to a forum to ask if your opponent cheated you when all they have to do is show you a rule they should have ready access to.

Yeah, Trukks can shoot, and therefore can perform any action allowed by a vehicle model.

Also, when you make a YMDC thread, try to make the title explain what the rules question is about. Makes it easier on everyone.