It really depends on when you go. Sometimes the animals will be within feet of the truck, and sometimes they won't. It depends which animals they are, too. Not all of the animals are able to get right up to the ride path - the ones that pose a bigger danger to it are kept separate (the obvious ones - hippos, elephants, cheetahs, lions, etc). Generally, there's enough animals out there that you'll see plenty. The ones that tend to be harder to spot include animals like the lions and especially the cheetahs. Imagineers and animal care staff do find ways to tempt the animals out. For instance, the rocks in the lion exhibit are actually made to stay cool, so that the lions will lay on them in the heat of the day where guests can see them. And zookeepers use more traditional methods called "environmental enrichment" to tempt the animals out of hiding. This could includes snacks, toys ("Enrivonmental Enrichment Devices" or EEDs), anything like that.
If you want to see the animals when they're most active, though, I highly suggest going on it as early as possible. That's a general rule for any zoological facility - you tend to see the animals most active around dawn and dusk.
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