There is a cost for that service and many HOAs use it for their own trash pickup. Call the trash company and check out the options and cost yourself, and then pick a remedy that suits you and outline it on a request to both your HOA Board and the retail establishment.
If you handle it as a suggestion or request vs. a complaint, they will likely accommodate your solution, if you give the solution vs. the problem. Regarding moving the dumpsters, if you see an option for that, draw a map to where they could go and submit that solution as well.
Complaints are often ignored. But if you offer the solution, you may be successful.
Unfortunately if the trucks came later then they would be on the road with commuters during morning rush hour. I think that it is just the price that we pay to live in an urban area.
I would reccomend that your condo association talk with the retail space to see if they can move the garbage dumpsters to another part of their site. You can bring this up at your next homeowners association meeting.
Most likely since they are picking up at a retail store, the store is zoned commercial of some type which would allow trucks to come and go. If it were me, I would check with the City Code Enforcement Office and see if there was a restriction for time of day or noise at that exact location. Otherwise, you may ask to talk to the manager of the store and see if they can get the trucks rescheduled. Probably not great solutions, but hopefully they are the most helpful.