Seen here in a Peterbilt 579 tractor, the shift stalk controlling the Endurant is designed for simplicity and intuitive use. Roll-click the handle forward or back to shift into drive or reverse from neutral, respectively; the large button on the end engages and disengages the transmission's manual mode.
Notice that increasing/decreasing graphic on the shift stalk as well, similar to a passenger car showing something like delay for intermittent windshield wipers? Here, it's indicating first, second and third positions turning on and increasing the engine brakes; tap the stalk down one notch past third for "max." (Photo: Aaron Marsh / Fleet Owner)