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My father's a former trucker ... But the thing is he hasn't worked that job in a LONG time so some stuff may have changed. My best advice would be to go to a truck stop and get one of those magazines and call and ask or ask somebody at the truck stop, even maybe talking to a trucker or two. They may look intimidating but some ain't bad, lol...
If you look in your state drivers manual, copies of which should be available free at your state Department of Motor Vehicles, will have some requirements listed in there.