The biggest thing I've driven is a 7.5 tonner, which I've been doing on & off since 1985.
You do get used to it. My tip is always to reverse into spaces, driveways etc.., that way you can see beautifully on the way out.
I had an advanced driving assessment in my car & was told off big-time by my assessor for NOT using the RVM: I only used the door mirrors.
One things for sure though, if you can drive a 7.5 tonner, driving a car seems like child's play!
As I've said here before, if I had my way, ALL learner drivers would be taught and take their test in a LWB, hi-roof panel van with unglazed rear doors. If they learn to manoeuvre and park one of those up, then they'll have no trouble with a 4x4 later in life...