Some corrections. First of all, that video is not banned on youtube, and is available right now from the IDF youtube channel. See here:
While the censorship angle is being used to try to make more people watch it, the reality is that users had flagged it for review removing it temporarily (and very briefly) but YouTube restored it quickly.
But more importantly, that video's claims have been very seriously contested, here's the owner of the truck's story:
I've seen photos that make me lean towards believing that the man's story is true, but I can only find a small thumbnail of them now: