Maybe okay to do this, provided you've got the following well stitched up :
A) Be sure to positively isolate this drum from the process plant and the vent system while running this sequence of operations.
B) Also you've got to know when the liquid level has dropped below the level of the draw nozzle, and avoid pressurisation gas blowby into the vac truck.
Of these 2, agree the second will probably require more work than the first. Maybe better to pull up into an intermediate elevated drum with a design pressure of 3.6kg/cm2, then flow down into the vac truck by gravity from this intermediate drum, if you believe the condensate vapor pressure is too high for the vac truck pump.
Whichever route you choose, routine as this operation may be, would suggest a desktop hazop review of the entire operation and then draw up physical mods and operating procedures to suit. Some 20years ago, I was once told by the Process Dept manager that plant drains systems have ruined the careers of process engineers than any other - that remark was lost on me at that time, but not forgotten.