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First, make sure the mission is active.
Second, make sure that you're bringing the right cargo. You probably need to deliver the beams before the drill.
Third, try to not have the truck or trailer inside the manual unloading box but also try to have the truck and trailer clear of the rig itself. If you were to circle the rig in a clockwise direction, go fairly wide near the buildings. When you pull into the delivery square, pull ahead as far as you can to still have the delivery button shown on screen. Your rear truck wheels will still have to be in the square.
If none of that works, you may have a bugged mission and have to restart the mission.
You'll find enclosed a virtual bottle 🍾 of the best whatever you can afford to drink... I followed your expert advice and voilà, success. The problem was that I'd left a big rig setup trailer right between the the rig going up and the delivery point. Once removed to a further location I was able to unload the steel beams followed by the drill itself. This completed the three drilling requirements in Michigan. Thanks a lot for your help 👍