Methods and apparatus are disclosed for controlling machine configurations. An example method includes determining a desired trajectory of an auxiliary machine based at least in part on a desired work path or an alignment of a host machine and the auxiliary machine; determining a first actual trajectory of the auxiliary machine; comparing the desired trajectory of the auxiliary machine to the first actual trajectory of the auxiliary machine; when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, crab steering the auxiliary machine toward the desired trajectory while a course of the host machine is different than a course of the auxiliary machine.