I don't have much experience trucking other than CDL school. I did/do drive a Ford F350 LB/Crew Cab with a 10' trailer. That set up is very responsive compared to a 48' foot trailer. I just watch the trailer and steer it to where it needs to go. I make many small correction rather than one large correction. Steer your trailer so you never have to over steer. Do what works for you. I don't care where my hands are, other than being on the steering wheel.
I can hold it at the top, the bottom, either side with either hand. It doesn't matter, I steer the trailer. I use all my mirrors, all of them. Make a correction, if it is the wrong way, you have ample time to correct. Try not to stop, unless it is necessary. You loose steerage when you are stopped, it makes it harder. Keep rolling, unless you are about to hit something. This does not apply to Getting Out and Look(GOAL). Do it as many times as is necessary. Don't worry about anyone else who is waiting, you are the Captain of your ship. If you allow them to hurry you and you have an accident, are they going to take responsibility? Of course not. Ignore them. Don't be afraid to ask for help. Agree on your guide signals. If there is someone there, who backs regularly, in that yard, ask them to back. Don't rely solely on this, it is your truck, practice backing until you can do it as well as anyone else.