IIRC, they have been caught pre-scripting scenes. The most famous incident being the Tesla Roadster debacle - https://en.wikipedia.org/wiki/Top_Gear_controversies#Tesla_R...

"A BBC spokeswoman said several times in an interview that Top Gear was "an entertainment programme, and should not be taken seriously."

Also the Hilux in that video hasn't been made this millennia, so the "shiny new ones" the article references likely isn't those.