Yep, that's about what you'll get. I suppose if you figure that it takes X amount of fuel to make X amount of power to move X amount of weight with X amount of aerodynamic drag, there really isn't that much of a difference between our trucks and big rigs. The only factor not considered is the efficiency of the motor at the rpm/load you are running it at.
The semi's size is clearly not as aerodynamic as a pickup, but the hole it's punching in the air is big enough for the camper to slip through, so it's close to a wash.
My '97 Freightliner Century Class has a Cummins M11, and is right at 1,000,000 miles. I bought it with 750,000 miles and haven't had a stitch of problems with it. That's one difference to consider, though. Those trucks aren't being stressed at that point. Also, when parts do wear out at one fifth the rate, they don't cost five times as much as parts on our pickups.