Kent Harris, 49, is charged for involuntary manslaughter in the death of Kecia King.
King was left for dead on the side of I-29 near Pickett Road on Jan. 21.
Court documents allege the trucker met up with King at a bar the night of her death.
According to the probable cause statement, King left the bar with Harris. She was later found by a passerby on I-29 near Pickett, badly injured.
Investigators say an autopsy revealed King died from head trauma, resulting in brain swelling consistent with a fall from a vehicle.
Harris was arrested days later in Broward County, Florida.