While it doesn’t put you in the driver’s seat, as a simulator would, this 2 dimensional truck program, operated with keyboard arrows certainly simulates real truck-reversing frustration.
For other simulation, check out the truck driving simulator used in beginner and commercial driving schools or the home driving simulator (but this one is just automatic car). In the home edition, you do get a feel for reversing with a trailer when you select passenger vehicle with boat attachment. Trying to reverse with that thing, with a wheel and everything, is just as challenging as this truck reverse game here.
