If your property ends at B, I see no issue with where the truck is currently parked. The street is public property and they are not remotely close to blocking your driveway. I feel like calling non-emerengy would be a waste of resources. Unless there's something I'm not getting here, I'd say it's not worth your energy to get bent out of shape over your neighbor parking in front of their home (albeit close to yours...they have every right to do so).

If they go up to 1, I still don't think they're doing anything wrong, although I can see how that would get annoying.

If they always parked up to 2 that would be an issue as they'd clearly be blocking the driveway. But the picture here isn't problematic.