The tail tractor can follow you by steer and/or speed up, similar to a "Follow Me" mod. Get back into your lead tractor, and press the X key to hitch the chain to the hook you just positioned. You can position it correctly by holding the ALT key and using the 4 to 9 keys on the numeric keypad of your keyboard. Then aim at the front coupling of the tractor to be towed, and press the W key to bring up the coupling hook.
To put it simply, you have to approach the vehicle to be towed, ideally in reverse if your chain is attached to the back of your tractor. The X key allows you to hook the other end to your tractor to prevent the chain from dragging on the ground. It will have to be hitched to the lead vehicle, with the A key (default hitch). It consists of several chains (3 lengths to choose from in the shop: 1.5m, 2.5m, 3.5m), and a tow hook (which is supplied with the chains).
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