The truck that I drive every day, which is a Toyota, is red.
The truck subject
that I drive every day restrictive relative clause
which is a Toyota non- restrictive RC
I suppose you can use both and be grammatically correct, but I think the sentence sounds very awkward.
I would recommend:
The truck that I drive every day is a red Toyota.
Just because you can use both doesn't mean you should use both in one sentence.
A non-restrictive relative clause is usually pronounced in a slightly lower register, a negative stress:
"His wife, who is beautiful, baked the cookies."
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