Simply put, CAFE standards were modified to include a vehicle "footprint" measured in square feet in addition to vehicle weight. The larger the footprint, the lower the fuel efficiency standards for the vehicle. The intent was to give a break to heavy work trucks that needed more powerful engines, while still forcing passenger cars to be more efficient. The unintended consequence was that automakers now had a loophole to sidestep stricter emissions standards: just make the vehicle larger and heavier.
This is a good article on the subject, with graphs on the CAFE fuel efficiency target curves in it (scroll down a bit to see them):
https://www.greencarreports.com/news/1111946_for-pickup-truc...