How do you drive a10 speed Volvo semi?

The same way you would any other semi. You take wide turns to ensure your trailer doesn't offtrack into a curb or other roadside objects, you routinely observe your mirrors, you upshift and downshift as needed.

You're not going to learn how to drive one simply by reading about it. Shifting an unsynchronised transmission of the sort used in large trucks is considerably different from shifting the synchronised transmission you'd find in a regular passenger car. You need hands-on training to learn the proper way to do this.