Have you tried leaving a door open while you hitch/unhitch? Eg. Turn D3/D4/RRS off, leave driver's door open, unhitch, start car and drive half a metre forward... close door and then the car will adjust height.
FWIW, my camper came with a 2T AL-KO off road hitch.
AL-KO Off Road Couplings
It is similar to the Hyland hitch, but has a plastic locking sleeve which is used to lock the centre while hitching/unhitching. I like the design as I don't have to change the ball - so I can tow our boat or box trailer without changing anything.