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for eg,irl with a scania you rotate the gear selector on the steering column into drive, that is auto, press button on end and its now in manual then you would pull stalk towards and away for up and down change.
How i have it setup on ets2 is in 'real automatic' then assign a button to 'manual/auto change' then when you press said button it will be in manual or auto, in manual you would then select gears yourself, given most trucks in eu are now auto this is as close to real life i find.
whether it can be done in game i wouldn't know, there may be mods
But you can basically float gears on any manual gear box - at least in reality and when you set the option allowing both in ETS / ATS. I had to learn it for my fathers Volkswagen bus, where the synchroniser rings were broken, but could do it with any car I had in my life when I wanted. And these were different brands from Ford through Mazda and Renault to Volvo.
You don't know when to shift, you learn it. In reality with your ears, because it will make grinding noises when you mess up. In ETS / ATS because the gear only will change when you have it right. And every drivetrain behaves differently. Do you have 12 or 16 gears? Which differential ratio do you have? etc.
I would recommend to drive your truck with clutch at first and see how much the rpm change on shifting. Once you have a feeling for this, you can try to float gears:
Change up: go into neutral while releasing the accelerator. When you are at the target rpm get the shifter into the new gear.
Change down: go into neutral while releasing the accelerator. In neutral give the accelerator a short hit, when the rpm is at target value get the shifter into the new gear.