Having watched the video a 2nd time now yeah I can see what you mean, Juke did have several seconds to accelerate past the lorry and join lane 1, then signal and join lane 2 overtaking traffic several cars ahead in lane 1, leaving the lorry to join lane 1.
This does not change the fact that the lorry is at fault of course, but this could have been avoided if Juke had used his mirrors and judged the situation unfolding a bit better.
There are multiple ways in which this could have been avoided. But as said, the lorry is still at fault in this incident.