The men burst into the cab by smashing a window of the lorry, which was parked in a lay-by off the A14 between Spaldwick and Catworth, Cambridgeshire.
The driver was ordered to lay face down in the cab before being forced into the boot of a car, which was driven off.
He was later set free in Preston, Lancashire, after travelling in the boot for hours.
The lorry was later found on fire in Stoke-on-Trent in Staffordshire.
Det Insp Craig Harrison of Cambridgeshire Police said: "This was a frightening ordeal for the driver.
"It is the second lorry to be hijacked from the A14 in 10 days so we are investigating whether they are linked."
The other lorry driver was kidnapped after parking on the A14 near to Huntingdon on 14 March.
He was released in Merseyside after the robbers had unloaded the container of 776 specialist televisions for caravans.
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