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Yes. To remove the "no air brake" restriction, you need to take the Air Brakes written test, as well as conduct your road test in an air brake equipped vehicle. Additionally, if you don't have air brakes on your Class A CDL, there's a good chance you also have a "no tractor trailers" restriction on it, as well - if you want that removed, your road test vehicle must be a tractor-trailer.

My advice would be to consider truck driving school. If you have a CDL-A without air brakes, I'm guessing you drove a Class 7 truck - something like a Ford F650, Freightliner FL50/60/70, etc. - , and pulled an equipment or storage trailer with electric brakes. If you're trying to get into tractor-trailers (or even Class 8 straight trucks), you're going to need to learn how to shift an unsynchronised progressive shift manual transmission (which is much different than the synchronised manual shift five/six/seven speed transmissions you'd find in a Class 7 truck.

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