Both truck and trailer in NVP2 use the same VehicleController script. Therefore, they should both be configured as a normal vehicle. Check Quick Start Guide for more info on vehicle setup.
Click on the names of individual modules for more info.
State Settings for the towing vehicle and the trailer. Example TrailerStateSettings are included.Powertrain in trailer's state settings.TrailerModule and TrailerHitchModule inspectors. 
VehicleController with TrailerHitchModule can attach a VehicleController with TrailerModule as a trailer.
TrailerHitchModule and TrailerModule can be present on one vehicle at the same time.AttachmentPoint is the point at which the trailer will be attached. The trailer will be moved so that both trailer and hitch AttachmentPoints are at the same position. This is where the physics joint gets created. Attachment Point needs to be a child of the GameObject containing the TrailerHitchModule.TrailerModule and TrailerHitchModule triggers, pressing 'T' (default key mapping) will connect the trailer.Also check Trailer module.
TrailerModule works in tandem with TrailerHitchModule. VehicleController that has TrailerModule is able attach to a VehicleController that has TrailerHitchModule.
TrailerHitchModule and TrailerModule.Attachment Point is the point at which the trailer will be attached to the towing vehicle. The script creates a SphereCollider trigger at this point which detects if the TrailerHitchModule Attachment Point is nearby. Attachment Point needs to be a child of the GameObject containing the TrailerModule.Trailer Stand is the object which will be enabled if the trailer is detached and vice versa. It prevents the trailer from tipping forward on trailers with only the back axle.Synchronize Gear Shifts is enabled the trailer object will be kept in the same gear. This allows for powered trailer or vehicles that are constructed out of two Rigidbodies.Also check Trailer Hitch module.