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Try going to controls.sii and modifying the clutch-range variable. This can alter where in the pedal travel the clutch "bites".
Sometimes you gotta drives trucks like 2stroke motorcycles :) Keep 'em on the boil.
You don't. If it's not engaging, you missed the gear. There's approx. 400 RPM difference between full shifts, 200 between splits on the 13 & 18 speed boxes (more for the 6 & 10). You either need to get your shift completed inside those timings (unlikely) or you need to learn to use your accelerator to match engine RPM with the transmission. Also, why are you even using the clutch during shifts in advanced mode?
There's nothing to fix, except your shifting technique maybe. If you've attempted the shift and the engine speed has dropped more than the 400 or so RPM then you need to use your accelerator to raise the RPM back up to make the engagement.
No it's not unrealistic (yeah, it's 'different', but then they can't really do much better with the limitations of the hardware), you can't just declutch and jam the lever into gear any old time in the real gearbox either, you still have to match RPM to engage the gear. That is entirely realistic. These are not synchromesh gearboxes.
If you make sure you take note of the RPM right before you make the shift, you'll be able to more accurately judge where your RPM needs to be at the time you slide the lever into gear.
If you're not going to use the clutch, then after you pull into neutral use the accelerator to keep the RPM raised just a little above where you judge your RPM match to be until you push the lever into your next gear-slot. The gear will engage after you release the accelerator and the RPM begins falling. If the RPM continues to fall well past 400 RPM below your noted RPM without engaging the gear, then you've missed the shift (you held RPM too low).
If you are going to use the clutch, then you can let the RPM fall until you've slid the lever into gear, then use the accelerator to raise the RPM (not too rapidly, or else it won't engage and you'll have to let the RPM fall again to engage on the way down) until the gear engages.
The gearboxes in ETS2 are assumed to be synchromesh, which is why even in advanced mode the gear engagement is a whole lot more forgiving when using the clutch than it is here. Here in ATS, basically the only difference between using the clutch and not, is that when using the clutch you can engage the gear while raising the RPM (unless you stomp too hard on the accelerator), whereas without the clutch the gear will only engage with falling RPM.
This is all speaking very generally. Since the engine/transmission interaction is dynamic things will change depending on conditions such as gross weight, uphill/downhill etc.
Know your truck.