Yes, and you should redirect it to a focused landing page rather than your homepage.
If your truck has 858-GET-ROOF and 858GETROOF.com on it, the customer sees GETROOF twice without realizing it. That’s double the repetition for zero extra ad spend. Same goes for billboards, vehicle wraps, print, anything offline.
The landing page should match the message of the ad, not be a generic homepage. A truck that says “Roof leak? Call 858-GET-ROOF” should land at a page that says “Roof leak? Here’s how fast we can be there.” The whole ad campaign focuses like a laser on one message.
The matching .com is cheap. Skipping it leaves money on the table.