This is an actual "get off my lawn" moment.
Anyone familiar with gun laws regarding dude trampling my lawn 50 times?
are they digging in your yard or driving any machinery through your yard? maybe you are trolling? let the guy do his job, assuming he isn't causing any damage.
1. Ask nicely for him to not walk on your lawn.
2. Hopefully he complies
3. If he doesn't you can choose to escalate or go in the house.
4. If you choose to escalate go outside, take pictures of the truck/license plate/vehicle number front and back and of the driver, ask to speak to his supervisor.
I would not suggest #4 aka going full karen.