I actually really love this entrance just because it can be a challenge. To answer your question, to get in I always recommend going as far over away from the entrance as you can then swinging the truck in. OR, a good way to get in is to actually reverse in off the road if your up for a challenge. I personally find it sometimes easier to reverse in if the area is quiet.
Some companies like this IRL are the same that have small entrances that aren't really made for trucks but a truck will get through.