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Simple really.
Cheers
It will ask you where to unload when the cargo truck returns to your base.
Yes, if they have a cargo dock (which op didn't when posting) it will automatically unload the items at the dock (unless its been disabled to do this in the truck menu) otherwise you tell it where to drop the items when the truck returns.
How long it takes will depend on how many drones you have I guess. Unless they set up a conveyor to move the items automatically to the flight control or expedition centre.
I normally drop all my stuff in the cargo dock and let the drones deal with it. Only problem with that is when I have the MDR and it's full off regolith the drones prioritise moving regolith so I need to make sure that they don't do this by disabling regolith from being recieved by any bulk storages.
Cargo Docks can have Belts coming out of them, and configured to send the resource(s) wherever you want it to go. In my Save with the Cargo Dock (CD), I also had a Cargo Elevator (CE). I configured my Belts to take the Cargo Dock resources to the CE and bring the resources underground. Then, underground, they'd leave the CE on Belts and I'd split off the non-Regolith Resources (mostly Rate Earth Elements), and send the Regolith to a Multi-Regolith Refinery and my REE to a Rare Earth Smelter... I kept Expeditions to Manual, as their loads were comparatively small and my Cargo Truck assigned to the MDR to Automatic, as they had large loads of mostly Regolith, which I could more easily and efficiently Belt to a MRR...