Possibiliity a truck driving school has an instructor who on their off time can teach you for a reasonable fee. Also, I learned to watch the mirrors, mirrors, mirrors! An instructor told the class I was in to watch the toad in the rear camera and if the toad was centered in your lane, you were fine.
Agree with the tailswing as mentioned above. Gas stations, trees in campgrounds and other parked vehicles (like at Cracker Barrel) can present a challenge, so take it slow, look in 6 directions at one time and you will do fine...
I do all the driving, DH is the navigator (when not napping!) So, I pretty well have to manage on my own.