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I've never had this issue myself, so I don't really know what else, other than a setting somewhere, that could be causing this. Unless you have mods installed that are conflicting with something...
Thanks.
If your truck damage is higher than a certain level (I think ~10%) then with 'Air-Brake Simulation' turned on you will get air-line leakage which will be a constant drain on the air system. At high enough leakage levels the air pump may not be able to keep up with the air system drain once you get into the low RPM stop/start conditions of city or/and terminal operations.
[edit]
While turning off 'Air-Brake Simulation' as suggested by others above certainly eliminates the problem, it really just ducks the root issue, which is incorrect/poor service-brake usage practice or a broken truck ;).
Thanks!
If the damage is less than 5% typically, then the issue really is poor service-brake usage practice.
Air brakes require a more disciplined and thoughtful approach to both brake application *and* driving habit. To put simply, you should drive in such a way as to minimise brake application requirement and apply the brake as minimally as possible (the further you depress the brake pedal the more air you drain from the system, try to use the lightest possible brake application that still gets the vehicle stopped in required distance).
This is why IRL you will see a loaded truck roll quite a long distance at relatively low speed when pulling up to a stop. He's trying to use the vehicle's rolling friction and engine braking to do as much of the slowing as possible to keep service-brake application light and minimal.
In terminal operations, you should be aiming to travel slowly enough that brake application is hardly even necessary at all, typically driving in such a way as to allow the vehicle enough time and space to roll to a stop on it's own.
Of course, how you choose to drive is entirely up to you and there's obviously no *real* issue with you driving however you like. Just some background information FYI only.
That will change how you drive, need a lot of room to do a stop, turn, etc. but that is how I like it. Do need to plan your rute and be aware of everything outside.
Use the engine-brake whenever possible certainly, though as far as retarder is concerned manual gearboxes typically don't have them. If you choose to use a gearbox with retarder installed then absolutely use it whenever you can.
Using your service-brake to maintain speed downhill, for example, is especially a big NO, IRL. You choose the gear and speed that your combination will hold on it's own without braking (known as the 'control speed'). Constant use of (even 'light') service-brake in this situation is dangerous as the heat build-up will eventually cause 'brake-fade' and render the vehicle unstoppable in a runaway condition - most usually catastrophic.
Yes indeed, true enough though for anyone not actually used to, or aware of, air-brake system operation it can be easy enough to drain the air-tank with (what they would consider to be normal & reasonable) brake usage.
[edit]
Also to expand a little on the retarder/engine-brake operation, as Hypertext says they're no use to you when parking... but further to this - The retarder is only truly useful at higher rolling speeds and becomes increasingly less effective with lower rolling speed. Also the engine-brake, while certainly still effective at low speeds, typically isn't used for low speed retardation (besides many city ordinances outlawing their excessive/unecessary usage within the city limits or designated areas).
--
Something I forgot to mention for the OP - If you do find that you've drained the air system to a point where the brakes lockout, the normal recovery procedure is to release the brake and idle in neutral at ~1500 RPM to drive the air-pump. In the game you can even recover a little faster and easier by just simply standing on the accelerator rather than holding the 1500 RPM.
Keep on truckin!