The truck is road worthy just trying to see if I need to go to the DMV for license plate to drive it home or I can drive it home with out a license plate?
In New York you are required to have it plated no matter what. I would contact the DMV and see if they offer a temporary tag if you just need to get it moved. They will also likely require you to show you are insured to drive the vehicle to get tags done. It maybe cheaper to tow the vehicle than to plate and and buy insurance for just one drive.