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Languages have different ways of expressing things. For example:

1- The next morning I woke up to find Bruce's truck parked next to mine.

when translated into my native language word by word, it means something like this: "The next morning I woke up in order to find Bruce's truck parked next to mine. (by the way, doesn't a truck indeed need to be parked somewhere by someone? can it park itself?) and it is even a matter of humour. but certainly we translate it like this: 2- The next morning I woke up and found that Bruce's truck parked next to mine. Or in my native language we rather say: 3- When I woke up the next morning, I found that Bruce's truck parked next to mine.

which one would you use? are they all correct and natural?
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It depends on the context in which these sentences are used; all are correct to me, except that I'd write "... found Bruce's truck parked next to mine", and not "found that B's parked ...". "Was parked next to mine" is another possible option.
Comments  
I agree with pieanne that any of these constructions is grammatically correct:

The next morning I woke up to find Bruce's truck parked next to mine.
The next morning I woke up and found that Bruce's truck was parked next to mine.
The next morning I woke up and found Bruce's truck parked next to mine.
When I woke up the next morning, I found that Bruce's truck was parked next to mine.

I prefer the first one: The next morning I woke up to find Bruce's truck parked next to mine.

The phrase
to find Bruce's truck parked next to mine is an infinitive phrase used as an adverb to modify woke up. But the phrase does not answer why I woke up; rather, it answers how or in what manner. So the meaning is not I woke up in order to find Bruce's truck parked next to mine. It is I woke up in a surprised, startled manner because I discovered Bruce's truck parked next to mine.

I think this usage is at least borderline idiomatic. An analogous sentence: Investigating the noise, I climbed the stairs, only to find a family of squirrels had settled in the attic.