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Volvo FH (750 hp) would be my recommendation.
keep the engine rpms between roughly 1000 and 1500 rpm, plus or minus a bit. its not a perfect guideline; there are certainly times where its appropriate to stay in a lower gear and let the engine run a bit high or to drop into a higher gear where the rpms drop. that will come with experience, but engine damage isnt really a problem so dont worry too much about straying too far outside that range. i guess the takeaway here is to not just hold the throttle and wait until the truck isn't accelerating anymore to shift up.
upshifting is also fairly straightforward on flat ground, run it til about 1500 rpm and then upshift a gear. if you are running 18 speed transmissions with lighter loads, you can usually get away with shifting by 2; so 2-4-6-8-10-12. pulling heavy, you might have to run through every gear. same if you are running in the hills with light loads. if you are using a 6 speed transmission, you will almost certainly need to run through them all, and with a 10 you might be able to skip gears with lighter loads; although i'll admit its been years since i've used a 6 or 10 speed, so this might not be completely accurate, and will certainly vary depending on your load.
downshifting can be kinda tricky, and one you really just have to figure out. if you have to come to a stop, you'll know that you have to drop back to 1st or 2nd (somewhat variable due to engine/transmission/load setups). if you have to drop from 80 to 50 like when entering a town, it can be a bit difficult to know where you need to be. in that case, i would usually drop 2 or 3 (again this is on an 18 speed) and see where the rpms fall (as you can tell, this is really the gauge you should be paying attention to) and if you need to drop another gear to get the acceleration you need, or if you can maintain the necessary speed with that gear.
even better, if you have the space, drop a gear and enable the engine brake to slow you down without using the vehicle brakes, and drop again (once the rpms drop closer to that 1200-1000 area, although the braking effect is stronger at higher rpms) and enable engine brake if you need to drop further still. this will let you monitor your speed, gear selection and engine rpms, and ideally help prevent you from dropping too far and then having to search for the correct gear to be in.
if you want to learn to shift, it would probably be best to decide on a specific truck configuration (ideally one you like driving) and keep it the same. its probably also a good idea to haul similar loads in similar map areas to make the variable shifting the transmission as much as possible, at least until you get a hang of it. i pretty much only run american style trucks, so i cant really give a suggestion on what base game trucks to try, but in the end it probably doesn't matter too much (i realize this doesn't address your acceleration question). i have a logitech driving force wheel that has a basic shifter (up and down) but mostly use an xbox style controller and have the shift buttons mapped to the bumpers.