yes, truss has been based on / implemented in terms of dtrace since Solaris 10.
(dtrace userland is a library; you can, if you so choose, write your own tooling there. The command is "just a wrapper", a lot of similarities to bpftrace on Linux)
truss(1) is not DTrace-based. It continues to be implemented in terms of the process control and instrumentation facilities provided by the proc(5) file system, as it has been for a long time.