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Do the tank commander of Panzer IV really kick the driver on the direction they want to go?
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Not like that in the series. Only selected crew who has a knowledge and skills can pass to become a member Panzer unit.
Mostly all Panzer crew wears headphones and a throat mic. connects to the radio operator.
It depends if the communication break down or power loss they do simply by only tapping their shoulder or to shout or if the loader is sleeping they usually kick him in the head.