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.
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).