The accident affected the vehicular movement on the busy road for a couple of hours.
The truck was on its way to Gujarat when it hit the tempo coming towards Mumbai at Somta village along the highway around 8.30 am, an official at the Kasa police station said.
Two persons, who were in the tempo, died on the spot as the three-wheeler got crushed under the wheels of the truck, he said.
The two injured persons were admitted to a local hospital, the official said.
The truck driver was taken into a custody, the official said, adding that a case was registered against him.