Practice, practice, practice. It's the only way. I drive 7.5 tonners and remember being terribly nervous at first about reversing that on just two mirrors. But now it's sooooo easy!
OK, trailers can have a mind of their own, especially when you're trying to reverse them. My instructor drummed into me, hardly turn the steering wheel at all, trickle backwards without touching the accelerator and as soon as the trailer starts to go off line, put on a touch of opposite lock.
Ideally, see if you can persuade one of the LGV driving schools to let you have two hours use of one of their artic rigs, then take it to a quiet or dis-used industrial complex and practice.
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