Practice
You have to do the same on occasions even driving a rigid. That's what a lot of other road users, (car drivers mainly), fail to understand, that you sometimes need to nick a bit of the next lane, or run wide in order to make the turn.
Which is why I think all drivers, once they past their car test, should have to follow up with some compulsory experience in larger vehicles - on a track or airfield marked out with cones if necessary. It's only when you drive one (I've driven up to 7.5 tonnes, and plenty of minibuses and Transits etc) that you really understand the space they need and the problems of blind spots and so on. Ideally, I'd like everyone to have driven, if only for half an hour, a bus and an HGV!
You'd still get idiots who simply can't be patient or courteous, but you'd get a lot of mediocre drivers who at least had a little but more understanding of others.
(And by the same token, I'd like them to have to ride a bike on the road too!)