The fastest way to do this is to play on easy difficulty, and shortly after clearing the crossing you move towards the east on the road where you will find 3 PzIV's, 2 of them completely disabled, the 3rd one having a MG to defend itself. Attack the first tank with your Guards Rifle Infantry squad carrying PTRS Anti-Tank Rifles, save the game shortly before the tank gets blown up, and then finish it off. There is only a random chance that the tank can be taken over, so except it worked on the first try, reload and kill it again until you can finally take it over with your conscripts and then repair with pioneers.