As mentioned earlier in this thread, there was a Motortrend (I think) article where they mentioned that Tesla said that they had plans to build more superchargers in drive-through style to allow for this. This does sound difficult in that they'd pretty much have to duplicate the existing supercharger network with new sites (and sites which take more physical space as well).
The fact that many of the trucks will have a 350-500 mile range, which on the face of it, will help with this duplication - however when towing, this will probably bring the gaps between sites back down to the usual spacing.
However I agree that it 100% should be possible for a non-towing Cybertruck to be able to be charged at a normal site, in a normal back-in supercharger stall.