Footage has shown four suspected migrants jumping off a lorry as it parks in a lay-by in Essex.
John Scott, director of Algarve Removals, said the vehicle had suffered "significant damage" including a hole in the roof, during the incident in Maldon on Monday afternoon.
Essex Police said a man in his 60s, who was initially arrested on suspicion of facilitating illegal immigration into the UK, was released with no further action.
A Home Office spokesperson told the BBC: "We are relentless in our pursuit of people-smuggling gangs and stand ready to respond to all methods, including lorries and other clandestine routes."
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