Learn on a manual or automatic ?

Correct; they are "automated manual transmissions", or AMTs. The exact same transmission, but the stick is replaced with a computer control. The computer floats each shift.

Aside from being easier on the left knee (glares at Philly afternoon traffic), AMTs are safer. No blown shifts on a downgrade resulting in a runaway truck.

That said, take the test with a stick. Don't get the auto only restriction. While you may never drive a stick again, you don't want to be disqualified from that sweet local job that pays well and gets you home every night because their day cabs are all sticks...