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If you mean the guided tour, maybe it just ended and you didn't realize? That happened to me when it was introduced to 15, as well as in 17 and 19.
After I attached the cultivator it didn't give me more instructions, I can figure out what to do but after I finished there are no new instructions given. How were you able to finish the tutorial?
When you approach the side of the harvester (which still has a Worker assigned) the pipe should start to come out, you just need to have your trailer underneath the end of it to recieve the grain.
If there is no worker, you will need to get in the harvester and extend the pipe out (I think default key is O - its muscle memory for me sorry) and that should pull the pipe out.
eitherway driving next to a running harvester (either AI worker, or one that is "on") will cause the grain to come out.
if you don't have an AI worker in the harvester then you will find that the harvester may turn off the engine when you move out of it and into the tractor, this is part of the "auto-engine start" that the game defaults to on, when you enter a vehicle it starts the engine, and shuts it off when you enter. The engine of the combine needs to be on for the pipe to work.
I guess it was originally in front of the tractor, but I seem to have ignored the second "connect" message and just went full throttle, playing soccer with that weight :)