Glad to hear that you got off fairly lightly. It could have been a lot worse.
From the photo, it looks like you were on the inside of a right hand bend. Big rigs like that can close your lane quickly on bends and you have to be prepared for it.
When passing rigs like that, I tend to hold back until the cage in front has cleared the front of the truck and then open up and go for it, keeping to the right of the lane. I never like being next to one of those things, even in a straight line. I prefer to bide my time and then get passed asap
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