It does that in TpF, I have the same issue. Unfortunately adding steering rear-axles is in the game not really a working option. Tried that, but without good success yet.
I may give it a shot by setting the trailer axles in reverse, it's just an idea, but then the rotation in close view when driving slow is probably less nice.
If there is a trick to make the trailer axles steer, please let me V
The wheels must be installed in the same way as the front wheels on the truck.