Chris,
I do not know if there is a British manual that gives instructions for ground guides, but this subject in definitely covered in both the 1943 and 1944 editions of the Canadian "Regulations for Drivers of M.T. Vehicles and Universal Carriers and Motorcyclists" and also the "Regulations for Drivers of Armoured Fighting Vehicles and Self Propelled Artillery"
Attached are images of the applicable pages.
Colin
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