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Broadly speaking, you should be good with a 6x4 and a 500 or 600HP or more engine. I've seen people mention they do fine with a 425 - 450HP or so engine, but obviously the more horse power you have, the better off you'll be.
FYI, for transmission, I think the most popular option is the one that gives you 18 gears.
I think you can still generally get away with a weaker truck though, as long as you don't mind going uphill at 4mph.
It's just a warning, you can do pretty much any job with the smallest engine with the right gearing, the 18 speed. You might have to use diff lock in some situations but its doable even if very very slowly.
You need that to get going from standstill. Sometimes you even need Crawl gears (extra low gears). Forget about high top speed when hauling heavy stuff.
Unfortunately, without Mods, you only have the option of the 18 speed transmission (gear many).
The rear differential gearing is coded in to the Transmission files, and you only have one option with the better transmissions= 3.25:1 ratio (or somewhere around that ratio).
For dedicated heavy haul, you would want more like a 3.90:1 or 4.11:1 ratio in the rear diffs (gear low), and most O/O that haul a wide variety of freight opt for something in the 3.50: to 3.70: rear gear ratios .. the 3.25/3.28:1 ratios provided in-game are mostly what would be ordered by large fleet carriers for dedicated low-weight/high-volume freight at the best fuel economy.
Then I finished all Heavy Cargo DLC with that truck with no upgrades. Thats including the super heavy locomotive cargo.
I was at level 7 when I finished. I just did the heavy cargos nothing else.
That little truck made it, it did struggle sometimes cause I did it mostly at the winding roads of Rumania, Bulgaria and so on.
Conclusion: Any truck can do all cargo.
(exception is the old maps picking up heavy cargo at the minings, those are difficult in whatever you use)
While your point is true and valid .. wrong game.
You can also use the (fairly new feature) Air Suspension .. Raise both the front and rear suspension to help lift the trailer off the ground.