Yes the larger vehicle experiences less acceleration than the smaller one. And both of the vehicles experience the same force.
Force is an external agency that acts upon a body. Remember Newton's third law that says every action has equal and opposite reaction--so if the car experiences a force of 100N from the truck, the truck will also experience a force of 100N from the car. So both of them experience the same force. However, because the mass of the truck is larger, so the truck will experience less acceleration (since F = m * a, so we get a = F / m).