Pipeline to Salalah could work, just a bit expensive and takes a lot of time to build, and border crossings could be a diplomatic thing. But the pipeline would be an easy target for drone strikes and one as long as that is impossible to protect with anti air installations. Salalah - Oman already has a lot of harbor infrastructure (been there 4 times). But currently mostly for containers if I'm correct (last time there was 10 years ago though).

But theoretically it's possible.

Trucks not so much, a single tanker would take thousands of trucks and there isn't a straight and paved road through the desert. The trip would take days and loading-unloading would also take time, causing a traffic jam of oil trucks (just like the days long sewage truck traffic jam from the Burj Khalifa).