What should a commercial truck driver do if the right-side wheels drop off the paved road onto a soft dirt shoulder?

1. Jerk the steering wheel violently to the left at highway speed while braking hard
2. Maintain a firm grip on the steering wheel, ease off the accelerator without hard braking, straddle the edge, slow down to a crawl, and steer smoothly back onto pavement
3. Shift into Reverse immediately
4. Turn off the engine ignition key