If it's a two axle rigid vehicle (as opposed to an articulated one) then the skill to learn is to delay starting to turn if the vehicle is longer than you are used to. You are not initially turning right in order to turn left, you are keeping going straight for a few feet more than if you were driving a shorter vehicle.
That's where a mirror that is angled downwards to show the rear wheels relative to the kerb comes in useful: you wait until you see the kerb curving away around the side road that you want to take and then you start to turn, confident that the rear wheels will then avoid clipping the kerb. After you've done it enough times, you learn where the front end is in relation to your view of the junction, and can use that instead of the view in the angled rear mirror to judge when to start turning.
When I'm reversing any vehicle, whether it's a small car, a larger SUV or a big van, the door mirrors are probably the thing I use most - much more than the view through the central rear-view mirror or over my shoulder (which won't be possible in a big van!). The main thing is to see where each rear wheel and each side of the vehicle is in relation to the kerb/hedge/brick wall/white line of parking bay that you are trying to fit between.
I usually enable to option which causes the door mirrors to dip automatically when reverse is engaged, so I can see my rear wheels (rather than just the side of the car), because the kerb that I am are trying to avoid hitting with the wheel is out of view either with the naked eye or with the door mirror aimed straight backwards.