If we're going to look at this simplisitcally,
Energy = Force X Distance
In terms of power:
Power = Force X velocity
The force needed to overcome the rolling resistance of the truck tyres is (from your figures) 2590 N.
Velocity = 0.17 mph or 0.076 m/s
required power = 2590 X 0.076 = 196 W
Not very much, but not that surprising: they used to tow fully laden barges along canals with one person or one pony - and drag from the water is significant, even at fairly low speeds.
There's one small drawback. In order to generate the needed 2590 N force, the driving tyre of must be able to exert 2590 N against the ground. It has to be loaded with at least 264 kg in order to do so, otherwise it'll just skid. You cannot ignore the reaction forces acting on the tyre. So if you ensure that the rear wheel is weighed down at least 264 kg it would be possible to exert sufficient force as long as the gear ratio is large enough. Except... you can't ignore stiction, either. That increases the forces required several fold, at least.