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Alternatively, make the turns on your field early enough so you don't move into adjacent AI fields, and then work the borders of your fields more carefully later to clean everything up.
If you have trouble precisely moving and parking trailers by reversing, then try flipping things around and connecting the trailers to the front of your tractor instead (provided your tractor has the right trailer coupling up front).
Driving forwards instead of reversing, it's often much easier to handle trailers - especially if they have a steering axle of their own.