Oney Judge was born into slavery in 1773. She was the property of George and Martha Washington. After learning that she was to be made a wedding present to the Martha Washington’s granddaughter Eliza Custis, she escaped to New Hampshire in 1796.
Oney Judge escaped to freedom in 1796, the year before Sojourner Truth was born in Swartekill, New York. Sojourner Truth walked away from her slave owner in 1827, 21 years before Oney Judge died in Greenland, New Hampshire.
Did they ever meet? It’s hard to imagine that they did not. I have seen no mention of it in my admittedly slight research on the question, but I like to think they did.