I used to drive a 2553 Mega with the EPS box (selector on the armrest) and this had a clutch pedal but was secured up under the dash, only needed to be folded out (press the pedal to the floor and pull on the release catch) when you needed to feed the power in when getting under a lowly dropped trailer or when on an icy surface, to stop wheelspin. I always used it in M…double nudge into 4H and off, even loaded…nudge on through to 7H, then 8L -8H. The manual said iirc that it was designed to pull away in 4th and if it didn’t like it, it would stall.
Each truck is different. I know what you saying about the Scania with a clutch but it’s not the same. The best trucks on the road by far !