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1. Big engine.
2. 6-speed automatic - less gears, less wasted times during shifting (the higher gear/axle ratio the better).
3. Use the smallest wheels on the drive axles.
Regarding maneuverability and stability against tipping over i noticed that some wheels puts the tires on the axle either further in or further out, will this be reflected in the game or is it just aesthetics? I guess shorter axle length makes for faster turns and longer length makes for a slower and more stable turn?
What car tires/other stuff is good against slipping when braking hard?
Vanilla wheels have the same size - but if you have mod or DLC wheel pack then there is an information about the wheel size next to the wheel description or look how they change the size on a given truck.
2 axle trucks have bigger fuel tanks but are less stable while turning.
Trucks with short frame and taglift axle (last rear axle) have the smallest turning radius - but their fuel tank capacity is crazy small.
And theoretically 6x4 should have the best acceleration - I don't know if it is really true for ETS2.
4x2 would accelerate quicker. 6x4 might have better stability during aceleration, but the additional driven axle would reduce engine performance. It would also be a heavier truck.
Not exactly - the torque is distributed among 2 axles not just 1 - this means the wheels are less prone to slip and there are twice many wheels that push.
All of that would mean a reduction of engine performance. It might be marginal, but it would still make a difference, because the engine has to power an additional axle and extended drivetrain. The same principal applies to vehicles featuring part-time 4WD. The power to drive additional wheels has to come from somewhere.
Edit: now i own Scania S Highroof with 730 HP engine and 4x2 chassi (haven't tested other chassis) which accelerates very fast, top speed 141 km/h (maybe the fastest truck?).
It wouldn't matter. Performance is far more than just HP alone. Transmission and chassis configurations will affect the results.
Regarding your "truck getting stuck" issue, you should try using the Diff Lock function when that happens. (V key by default I think). Either that, or you need to configure a truck to pull the loads you choose. I haven't come across many trucks in the game that won't get the job done. Even the most basic, smallest engined trucks, although they might have some issues in hilly areas or uneven terrain.
The loose performance of the engine by additional powered axle is nothing compared to excess amount of torque. This is why a cross-head screws are better than slot-head screws, but torx are better than cross ones. It's all about distributing that torque evenly.
In terms of raw torque, an additional axle won't make much difference as long as the engine's torque curve isn't exceeded by the addition of the second axle. But to put the acceleration question into perspective, you would need to ask yourself why FIA racing trucks have single drive axles. The added weight of the second axle alone would impact performance to a degree.
With screw heads, the concepts are different. Torque is evenly distibuted across all three head types in any case, but the differences in design means you can generally apply more torque to a torx head than you can to a slot head, primarily because the slot head screwdriver will keep slipping out due to inconsistencies in driver alignment when tightening.
Personally, I don't know why anyone would just want to free roam in a truck in this game. A tuned Scania will still top out at 56mph the same as an entry level Iveco. How fast it gets there seems irrelevant to me.