Help with topdown "truck" (object/car with a "trailer")

So I would like to create some type of horse wagon/ truck, with physics, in topdown (Just for the sake of learning) . I guess its something with joints, but I dont know how to set everything up. The trailer has to follow the main object and not rotate to a specified angle, but start turning after.

 

What solutions have you tried?

 

I really have no idea what to do. I started Unity again after a long break... xD. I just wanted to know how to get this going, so dont try too hard to help me. Its not for a project or sth.