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To avoid this you should rely more on the engine brakes and/or the retarder to reduce your speed.
I barely use my service brakes unless I need to stop suddenly or completely on crossings or when parking.
If you can't adjust your driving to this, I suggest you leave this option off.
TL;DR - It is a realism thing, you need air pressure to move.
I do use the regular brakes a lot, I play with a gamepad so the other braking systems weren't really fit for my controller so I've turned them off. I like realism so I'll drop the GPS functions on my controller and try the retarder, the retarder is quite handy in some steep roads near Aberdeen and East Europe.
With a diesel engine it only requires fuel, compression, and heat, so when you let off the gas the engine is not slowed significantly when the drive is connected as the interia is actually running the engine, which will cause it to even run faster when going downhill.
So it's realistic to make use of the retarder and engine brake (jake brake)
Incidentally, your car operates in reverse to this, using a vacuum cylinder to operate a servo which then operates your brakes. You can experience something similar if you were to turn off your engine and operate the brakes - You will be able to depress the brake pedal normally and brake normally for the first 1 or 2 presses, but after that you deplete the vacuum reservoir and the pedal will become much stiffer and harder to both press and brake with. This means you can safely bring the car to a stop if for whatever reason your engine fails, provided you only apply the brakes once or twice! Try it for yourself (with the car sitting stationary) and try pumping the brakes with the engine on and then turned off.
When it comes to the game now, I like it A LOT better with the retarder! I switched my gamepad buttons around and I'm using the retarder and I'm loving it! It's a delight hearing that awesome sound when the retarder engages and it generally feels smoother.
I'll switch to retarder transmission on all of my trucks, I use the casual brakes only on emergencies and when I'm stopping still now.
The motor brake I cannot use since I'm on auto transmission with my gamepad but the retarder is brilliant!
Hopefully someone will correct me if I'm wrong, but this shouldn't affect you being able to use the motor brake. The motor brake is just mapped to a button or key, and then in-game you press that button instead of your normal brake button.
I believe in real-life, motor braking is turned on via a switch and remains active, but in ETS, it's just a simple button-press.
When I tried the motor brake with a manual transmission (again with my gamepad), the motor brake worked like a charm since I could downshift without decreasing speed thus causing the motor brake to operate correctly.
With an auto-transmission, the retarder has a far better effect than the motor brake - at least from what I've experienced so far.
the noise you are hearing is because you are drifting off the side of the road and your tires are hitting the rumble strip which is there to wake up drowsy drivers.
The transmission is likely not automatic. There are automatic transmissions for trucks (the Allison transmission) but usually an 'automatic' in a truck like these is actually a manual that is shifted by computer instead of by hand.
Also going down a steep hill using service brakes to check the engine speed can result in the brakes heating up and eventually failing all together. In city driving and on flat land, yeah the engine brake is mostly about saving brake life because the service brakes will be sufficient, but this is different where you're going down a mountain for miles and miles.