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If you were already pulling one and it became detached, intentionally or not, you then need to back up so the rear of the truck is as close as you can get to the tongue of the trailer, then activate the Advanced mode and a black dot for the trailer should appear on the trailer tongue (similar to the winchpoint dots). Click on the black dot and if you're close enough it will prompt you to hook up the trailer. If you're not close enough, it will tell you to re-position.
If you're not seeing the black dot on the trailer tongue, you're not close enough to hitch it. I should have been more clear in the last sentence above: you won't get the black dot to hitch unless you're within hitching range, but even then you may have to re-position to get it to allow you to hitch up.
Yes, camera control is one of the BIGGEST complaints and it got worse with this game version. There is no way to set it to stay in one place.