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If you are having trouble visualizing then may I suggest watching a youtube video on this subject.
Green is the tractor/cab unit and red is the trailer.
https://www.sgi.sk.ca/pro-driver/-/knowledge_base/pro-drivers/steering-forward
https://steamcommunity.com/app/270880/discussions/0/3109152828487556648/
This video also shows an aerial view of how one could do the turn on a real tractor:
https://www.youtube.com/watch?v=7YrGIbNaqNk
Real life does not care either. I watch a YT channel by a Canadian driver (okay, German driver working in Canada to be exact) and he does this all the time in CA and US. No one cares. And who should. Police have more work with a knocked over sign...