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Some of these connectors are not coming with the default vehicle setup, or not available on current vehicle. So you may need to select that in accessories list or change to another make/chassis
If you have trouble with reversing with a trailer then I can provide no help...
tysm
When you're pointing at the 5th wheel, it would show an outline of it and you can press T to connect;
While driving a truck with dolly attached, press Alt would toggle trailer connection control panel which is at bottom left corner of screen. It would highlight currently selected trailer and you can connect other trailers.
Both methods require you to properly position trailers firstly before connecting. And I would possibly make a video to explain these operations later.
For semi trailer with tow hitch, you need to select the optional component during spawning, it's located near bottom of additional components tab (icon with gear and wrench)