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With the trailier attathed to the truck, and you're sat in the truck, use an external view, and turn on the help (F1). You'll see the appropriate keys to presss to lower the trailer ramps (from memory, with an XBox controller, I think this is RBumper + DPad Left or Right).
Jump out of the truck and into the excavator, drive it onto the trailer.
Leave the excavator, then wander around the trailer near the ramps, you'll see a prompt to attach cargo. This will chain the exacvator to the trailer.
Get back in the truck, raise the trailer ramps.
Ok, thanks.
and the default keybind for horn is also DPad Left.
so if you withdraw the ramp, you will also trigger the horn and it sounds like the truck's alarm is going off