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On X-box controller myself and that works great, but it does sound like the devs have put key rebinds on top of the to-do list if you don't like the current setup.
I don't like that reverse sometimes just doesn't do anything too. I can press it up to 4 times before the truck starts to reverse. Sometimes, I just spam the key just to preemptively get it to work.
Other then that, if you have played just about any other space sim (or even maybe plane sim), the controls on KB are not bad at all.
I looked at your profile and see you have Shipbreaker.
I have it as well.
To me, the controls feel very similar to that game.
You can get basically full Newtonian physics by turning off the Driver Assist when driving. How the devs have placed the thrusters on the rig and how they operate when used is reasonably done. Though in this game turning off DA is more difficult due to the lack of lateral or straffing thrusters.
If you hold the reverse thrust (kb) the rig will come to a complete stop, regardless if you keep holding it. It should only go into reverse if you let off and press again. That's how I've found it to work. But a few times, like you, it seemed I had to press reverse a few times to get it to kick in.
The basic problem is that some controls are just NOT mapped at all. So you have to point at them either with the mouse or the controller and "click" them. This is probably the biggest problem with the controls.
Since I find pointing easier with the mouse, I just use keyboard/mouse.
My biggest gripe is that you don't have mouse-steering, especially in 3rd person.