Depends on traffic.

If it's kind of grid-lockish, like in a real city than you're probably better off filtering because you'll end up having to pass them soon anyway. It's safe to pass a truck if they're stopped at a red, you can predict by their lane position if they're turning or going straight and their accelerate slowly anyway.

If it's a fast moving or country road and they'll be passing you in 50 feet anyway, stay behind but take the lane behind it. That way you can accelerate through the intersection at the trucks speed without the risk of a right hook from a driver looking to pass you, and are more visible to drivers looking to turn left coming from the opposite direction.