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The incident happened on the M4 between Miskin and Pencoed and led to the closure of the motorway in both directions.
Both carriageways were closed for around an hour, with south and northbound lanes reopening later that morning after the lorry was cleared.
Emergency services attended the scene to deal with the vehicle and manage traffic.
The road was cleared and reopened following the incident at 7.30am this morning.
The cause of the incident has not been confirmed and is under investigation.
