Best idea is software like "nvidia experience". You can set there something like quick replay (not sure how it is called in english because I use this software in other language). I reccomend to set it for one minute to save space (usually you need max 40 sec but it is set to 5 min by default). You also need to bind one button on your keyboard for save quick replay. Remember to type "/pinfo xxxx" where xxxx is a short temp id in game, to save TruckerMP ID on your recorder video. Before you can use this you have to click shortcut (which you set in options) to open settings and click "quick replay" (or something like that). When it becomes green then it works. Now you can save replay (last minute) by some button you set before.
Here is example of mine, as you can see last seconds shows TruckersMP ID.