In order to achieve a correct representation of jointed structures within multibody dynamic simulations, an accurate computation of the nonlinear contact and friction forces between the contact surfaces is required. In recent history, trial vectors based on trial vector derivatives, the so-called joint modes, have been presented, which allow an accurate and efficient representation of this joint contact. In this paper, a systematic adaption of this method for preloaded bolted joints is presented. The new strategy leads to a lower number of additional joint modes required for accurate results and hence to lower computational time. Further, a major reduction of the computational effort for joint modes can be achieved. The potential and also possible limitations of the method are investigated using two numerical examples of a preloaded friction bar and a bolted piston rod bearing cap.