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I go with H-shifting for the "fun" factor, I'm used to driving a manual car IRL anyway. I mainly use the 2012 Scania Streamline, which at least did have traditional manual available, although I believe not with the V8 730 I use.
However, I've never driven a new style automatic myself, and I guess it's not impossible to emulate torque converter automatics creeping once of the brake by slipping the clutch when off both pedals and near stationary, but don't know if they actually do that IRL.
Yeah, in fact all transmissions in unmodded game (and in ATS too) are automatic (even though you can play any of them as if they were manual), so the most realistic way is the real automatic option.
However, I used to use a good mod adding realistic manual transmissions. Some trucks in the game don't have animation for mode selection (R-N-D knob or switch), MAN being one, so together with modded manual transmissions it felt nice.
But now I am going to switch to new Scanias and will probably use real automatic again. I just wonder how to set mode selection up. The real selector is on the steering column, so shifter selection for R-N-D isn't realistic. Maybe mouse wheel?
luckily my wheel has a dpad. i use that for up/down and blinkers.