With the trucks that have the hydraulic arms, this isn't really true anymore outside of major cities with street parking. I remember growing up you could also just out big bulky items out on trash day (mattresses, toilets, tubs, etc) and they'd take it. Now, at least in my town, you have to schedule bulk pickup, there are limits on how often you can do it (I think my town is no more than like 2 times a month or quarter), and there are restrictions on what can be left for bulk.

Even with the hydraulic arm trucks, they weigh the bin as they pick it up, and will put it back down and leave if its over the weight threshold (meaning you're throwing away something in your bin you shouldn't be, and would need to schedule bulk for it).

Oh, the times, they are a-changin'.

Edit: When I lived in Baltimore, it was the old school style system of two guys on the back of the truck running to the curb, grabbing the bin, throwing it in the back, returning it, and hopping back on. Outside of that, I've only seen the hydraulic arm ones in suburbia for the last 15+ years.