The peak brake thermal efficiency of a large modern diesel is more like 43-50 %, depending on the size of the diesel, engine speed, percent load, etc. The 33 % that wr18061 gave is quite low. The diesel used in a semi has a peak efficiency of about 43 %, and making the engine larger only helps the efficiency of a diesel.
The exhaust waste heat of an IC engine is difficult to recover. This is because it is hard, but not impossible, to transfer heat into or out of a gas due to the low thermal conductivity of the gas. Heat exhangers used to cool gases often have liquid on one side of the heat exhanger and gas on the other. Gas to gas heat exchange requires large surface areas to get reasonable heat transfer rates. Regenerators are occasionally used to recover heat from a gas and send it to another gas.
Also, if you successfully get the heat out of the engine exhaust, condensation of the water vapor in the exhaust can be a problem. The condensate is usually acidic and corrodes most metals used in heat exchangers.
There are some SAE papers from the 1970's on bottoming cycles for IC engines. These papers would probably have some info on recovering the engine exhaust heat.
When I was in the Navy, we had a lithium bromide absorption type chiller. It worked well but that particular model required a skilled operator.