Look up Stanley Steamers - they manufactured steam cars until 1924. They were actually very highly regarded and drove far better than early petrol.
The capacity of petrol vehicles to start immediately compared to a steam up time of ~30 minutes started to make them obselete post WW1.
One of the things that made the Doble, mentioned earlier, so advanced as a steam car was the fact that it only took about 30 seconds to get it 'up to steam' and ready to go. But they were massively expensive, something like $20,000 when you could buy a new Ford for under $300!. Jay Leno has (or had) two Doble's, one of which used to be owned by Howard Hughes!. They were also extremely fast, Howard Hughes apparently did over 130mph in his, and they are reckoned to get from rest to 75mph in under 10 seconds.
Steam lorries where greater torque was more important survived into the 1950s, particularly in industrial settings - docks, mining etc.
Not sure what steam trucks were making, but according to Jay Leno, his ex Howard Hughes Doble has over 1000 lb/ft of torque from rest (the most powerful version of the 6.75 V8 engined Bentley Arnage made 737 lb/ft at 3200 rpm)!
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