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In the real world you need those extra axles because 1) road regulations require so many wheels per amount of weight in order to minimise damage to the roads, and 2) the suspension per wheel is only rated to handle certain amount of weight, so the more the better when hauling heavy loads to prevent damage to the suspension. Sadly none of that is relevant in the game.
I'm not a double stacker, but I have noticed that there are times where lowering the axle does provide better stability in some situations as well.
The lift axles on medium trucks that have them serve to resist rolling over when they carry high center of gravity loads on soft ground.
Some lift axles have brakes ( but you should be in low gear for control downhill anyway ) some do not. Some have double wheels, some do not.
The only lift axle that serves to increase ground clearance is on the Derry Longhorn 3194. I guess the only real use is lift the semi trailer somewhat in certain situations.
Yes they get stuck on bumps with the axles down. Yet while retracted they protect the fuel tank form bumps or other objects damaging the fuel tank. So even when not using them they have some uses.
There are players that use the largest trucks for medium log transport to not be bothered by rolling over and losing the logs. I always use the lift axle trucks for that. More challenge then large trucks, less then mediums without a lift axle.
On the Derry, it increases its limited ground clearance. This is useful if you need to cross fields strewn with rocks, where traction won't be a big problem but ground clearance will.
On other trucks, those axles can make a huge difference in lateral sway control, especially at higher speeds and while carrying heavy loads on the truck frame. They don't make that big of a difference with semi-trailers since those helps stabilize the truck somewhat, nor do they make a big difference with regular trailers if you're putting the weight on those instead of the truck.
They are most definitely not to be used on mud or any surface where you find yourself in need of extra traction. But in these surfaces you also won't be driving fast and you'll want to avoid terrain features that impart significant tilt anyway.