Police say the theft ended when the suspects crashed the pickup truck.
Twenty-year-old Garrett Eagle and 43-year-old David Edens are charged with first-degree robbery in the case.
The Springfield News-Leader reports a probable cause statement says the two men asked to test drive a 2014 Dodge Ram pickup on June 18 at Wehr RV in Springfield.
The statement says the men eventually refused to return the truck. Edens allegedly pointed a gun at the employee and threatened to shoot her.
A short time later, Eagle crashed the truck and the employee was able to escape.
Neither man has an attorney listed for this case.