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Physics Constraints problem hitch truck-trailer

I tried to change something but it does not work as it should.Truck movement it’s made with wheeled vehicle class. I uploaded this video, so you can see my problem .

https://www.youtube.com/watch?v=SdJ4bwzU-1U

You have an other ideea ,hot to attach this truck to a trailer ?

I’m not an expert in physics, but would help to see a few physics settings.