As far as I can tell there is no law in MN prohibiting riding people in any trailers. There used to be a law you could only put people in a 5th wheel. But I think now any trailer is legal. I think you need communication though, cell phones or walkie talkies.
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'03 Freightliner FL112, 295" wheel base, with '03 United Specialties 26' living quarters, single screw, Cat C12 430 h/p 1650 torque, Eaton 10speed , 3.42 rear axle ratio
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