To haul is to pull something with great force or effort, this is what trucks do. Haulways is a homophone of hallways. A haulway is a strip of road that is used for hauling objects. A hallway a long passage with doors into rooms on both sides of it. "Truckers like long haulways", which can sound like "truckers like long hallways". The joke is playing on the word haulways. 
Truckers like houses with long haulways .