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Between the two blue Semi-Trailers, the Sideboard Semi-Trailer is the better choice due to the lighter weight and the less chance of losing the load in a rollover. The sideboards help keep the load on the trailer making it easy to just repack the load without having to bring in a crane.
When you say "Semi's" are you asking about the Semi Trucks or the Semi Trailers?
If you are asking about the Semi Trucks, they are for the most part, all different in some way or another.
The height (Ground Clearance) and width of the trucks play a major part in their resistance to rollover. The greater the ground clearance the higher their center of gravity and they roll easier. The narrower the truck the easier they rollover as well.
As far as flex for the trucks, some trucks seem to flex a little more than others and that does play a key part in their ability to maneuver over rough terrain.
Here is a handy chart for data on the Trucks, it doesn't give you ground clearance, but it does give you max tire size and width of the truck:
https://docs.google.com/spreadsheets/d/18ONNtM63iq_oXbadZs-yR9R8DK68UUioSeEzsQPSxnM/edit#gid=812256588&fvid=1859487029
If you are asking about the semi trailers, they are all different as well and same applies when it comes to rollover. The lower the trailer is to the ground and wider the trailer, the less chance it will roll over in game.
As far as flex for the trailers, I never noticed any of them having flex, but then I do a lot of driving in 1st person so I wouldn't notice anyway.
When possible, I use the High Saddle HD Low Boy Semi-Trailer (3 Slot) because of it's low center of gravity and it's width. Plus I like the looks of it.
When I need more cargo space, I prefer the blue Flatbed Semi-trailer (5 Slot) simply because I like the looks of it better than the Sideboard, and I enjoy the challenge of a bringing in a crane if the load falls off the trailer. I use the Sideboard on occasion, but mostly the flatbed.
If I need the additional cargo space and wider trailer for ridiculously uneven terrain, I prefer the High Saddle Wide Flatbed Semi-Trailer (5 Slot).
I rarely use the longer trailers unless the mission requires them, I don't mind making the extra trips.
I wonder if attaching a trailer and towing one ( 2 trailer road train ) is not simply a better solution to lots of cargo demand missions. I wonder why the devs not opted for coupling more trailers instead of having to tow one by cable.
But the step deck semi-trailer also has the advantage that it has nothing sticking out underneath, and it will actually slide over crests or rocks like a sled.
I would recommend using the gooseneck or step deck semi-trailer for heavy or high loads, like concrete slabs and containers.