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same here!
Best thing is to have 2 tankers, one for water and one for milk.
So, I'll put my money where my mouth is. I recall having this issue a long long time ago and checking forums it seems it still has not really been answered or fixed.
Testing with various options and the Lizard MKS8:
0. As above, EasyDevControls are probably the best and quickest solution. Thanks to Mark and Bromstine.
1. Reset as above, but then your trailer disappears and you have to drive off and get it back. Annoying.
2. Use a tank attachment that offers area refill. Tested ok: https://www.farming-simulator.com/mod.php?lang=en&mod_id=124705
When you get close to one of these (that isn't full) you will get a Overload' option, the fluid (water) will transfer to the tank. Naturally if you wanted to duel-fluid it each way you'd need to make sure that the tank supports both fluids, or mod it's FillType so it does. You can also do it in reverse by picking it up and 'Refill' from the water trailer to drain it out.
Just leave the transfer tank near where you would want to swap over and dump the water into it to use elsewhere then refill with milk. That IBC tank is real cheap, portable and well worth the savings in hassle over having to retrieve a reset trailer.
Note that this only seems to work with attachable tank/trailer types like the one above. I did not have any success with pallet-type IBC tanks despite them having refill and discharge nozzles. I am pretty sure that dual MKS8's won't work this way.
3. Use a multi-sell point like https://farming-simulator.com/mod.php?lang=en&mod_id=147449 which accepts any cargo. You won't get any money for it but you really just want to empty the tanker out, and this is a fairly cheap and elegant solution that gives you another sell point to game high demand.
Credit: Boots@GiantsForum https://forum.giants-software.com/viewtopic.php?t=157268
4. Attachments like this one https://www.farming-simulator.com/mod.php?lang=en&mod_id=151294 have
I put that flag into the MKS8 dischargeNode at "\steamapps\common\Farming Simulator 19\data\vehicles\lizard\mks8\mks8.xml" anyway just for testing, no go. I am pretty sure that a modding wizard would be able to trick it into discharging to the void, but I wasn't able to. Nor was I able to find anyone who did, asides from some esoteric Luadoc discussion about .i3d geometry and getCanDischargeToGround, but no practical examples.
I do not even play this game anymore, everyone is playing FS22.