I think it depends on what your hauling and what state your in. I have seen them in front and some in rear. Also seen them front and back both and have seen some loads with state police front and rear.
 
The rules differ from state to state but generally It depends on what road you are on.
On a two lane road (1 lane each way) the pilot car goes in the front to warn oncoming traffic.
On a 4 lane or bigger the pilot car goes in the back because there is no oncoming traffic and they can help block cars from passing when you need extra room to turn or get over because of things on the shoulder.
Pilot car guidelines
 

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