I had a fractured kneecap about five years ago, repaired surgically and with some pins still in it. I am fully recovered -- I bicycle a lot, work out with a weight machine (leg presses, seated leg extensions, etc.), and I can do whatever I want. But, like you, when I have to be down on my knees for a while, I am stiff when I get up.
When I had my DOT physical last month, I listed the injury in the section where you declare pre-existing conditions, and I asked the doctor about it. He had me hop on one leg 25 times or so, do some squats, and demonstrate that I have full range of motion, and he gave me the OK on it. He suggested that I get out of the truck and walk around some whenever I can, but he didn't think I would have any problems doing the job.
I'm still a wannabe driver, so I can't speak from experience other than being able to pass the physical.
Best of luck to you!
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