There are many companies who advertise "home on weekends" and some are better at it than others. Unless you find some sort of "local" or dedicated route position, don't expect you'll be home EVERY Friday B4 6:00 pm but most weekends home is a reasonable expectation though you may arrive early Sat morning and/or leave late Sun afternoon. But you can expect to spend the first few months training with the carrier and NOT be home every weekend.
Go to Conway and Saia, they are LTL carriers. They have a program where you start on the dock moving freight and graduate to being a driver. Best paying jobs are in LTL, best benefits are in LTL and best home time is in LTL>