The premise of your question is wrong. Heavy duty vehicles can (and do) use automatic transmissions.
I’ve worked on many large mining machines, including Sandvik Lh514 loaders, Sandvik Th430 trucks, as well as Epiroc Mt436b trucks which have Dana 6000 series transmissions in them. 4 gears forward, 4 gears reverse, full on powershifting.
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