"I had them contact their legal department and low and behold, they said I was right and the next time I wasn't asked to stamp their document."
Are these truck deliveries through the same company? Maybe working with the company selling the trucks, as you did with the company requesting the I-9 notarization, is your solution rather then trying to convince each trucker.
Another solution might be to buy a non-notary stamp through this site in the Supplies tab. You can get a stamp with your return address or name or just initial(s). An embosser is your notary seal and embossing every page with the embosser would be the same as using your notary stamp on every page.
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