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Might be game limitation... Even vanilla passenger cars drive into/thru each other, especially at multi-lane intersections. This "grew" in the last Fall update that adding overtaking.
Also it's similar to cargotram mods, which have similar problems. Lotsa screenshots here:
https://imgur.com/a/ZTc7na6
But you might try creeping the code for vanilla and mod multi-unit trams to see if there is a difference. I don't recall seeing collisions with this one (but maybe just haven't noticed it yet):
https://steamhost.cn/steamcommunity_com/sharedfiles/filedetails/?id=1958235092
i remember using that cargo tram mod before.. Trams might be a good place to start, good shout!
I haven't looked inside vehicle mods much so just guessing that the code is similar between articulated road vehicles and trams. But probably a lot more info on that in the modding wiki.
A nice thing about the mod above is multiple Buy menu variants of each vehicle with different numbers of "trailers", so can see how the code varies between single- and multi-unit.
That was it!
I moved the truck forward, reset the bounding and fake bogie locations for both the 2 and 3 trailer versions, and both are now working!
I'll keep running them for a while to make sure, but then i'll have a go at switching trailer types. (and perhaps doing the same for the 359)
Thanks Jones!