I drove tractor trailer for years, both pre computer controlled diesels and post DEF catalytic controlled diesels. On the older trucks if it was parked for the weekend when I started it there would be a dusting of soot come out of the stacks. It got to where on the new trucks we didn't even have stacks just low road exhaust even on sleeper cabs. You could be hooking up with the truck running and not even smell the diesel fumes. Of course, most hated the DEF and the particulate filters. The newer diesel pickups can use the same technology but if you look at used truck ads or diesel shop ads they all have the delete done or shops offer the delete service. No emission checks or state inspections so they do what they want. Plus "rolling coal" is the cool thing to do when Granny buys you a diesel pickup and you want to impress your buddies.
So why not make light diesel trucks subject to annual (and perhaps random) inspections and fines to crack down on that?
NOx emissions do kill people, if they occur in populated areas. This analysis suggests that the VW cheating results in 10,000 premature deaths per year in the EU.
https://www.europeandatajournalism.eu/the-dieselgate-and-air-pollution-in-europe/
How much does cheating on US diesel light trucks cause?
Compare that with 40,000 deaths in car accidents per year in the US, that we spend a lot of money to reduce.