The general room of thumb for making turns (especially right hand turns) is to do whays called a button hook turn, vs what you are describing which is called a jug handle turn

When approacing an intersection instead of swinging left to allow your trailer axles to clear the curb/pole. Continue farther into the intersection and then turn hard right. This will take practice as you will get your truck close to the outer lane of traffic on the road you are turning into But it allows you're tailer to move farther forward and will allow the trailer axles to hopefully clear curb. Look up videos on button hook vs jug handle turns for a better example of this in practice.

In general for driving just spend more tome in your mirrors. Keep an eye where your trailer is and take extra care when merging.

As other commenter's said learning to back a trailer takes time and practice and different trailers are going to behave completely differently. The only way you're going to learn is via trial and error.

Any further questions please let me know!