DC owner here. First thing is, 4 links is not good. You should aim for 5 links under tension, maybe 6 links. The geometry with 4 links creates more horizontal movement. A properly set up DC WDH should not have the bars popping out in tight turns and it should not be necessary to remove the bars before backing up.
There is a good sticky over on the RV.net forum that goes through the dual cam setup procedure and includes a discussion of Reese's instructions. RV.Net Open Roads Forum: Towing: Travel Trailer Hitch Set-up Procedure
You need to set the number of chain links under tension at 5 and vary the bar angle to get the appropriate amount of weight transferred to the steer axle. You can do this by measuring the front before and after fender height or by going to a scale. Newer truck manuals state a different amount of weight to be transferred compared to older trucks so you should check your manual. You also need to have the coupler at the right height above the ground relative to the ball on the hitch head. Changing this affects the level of tension on the bars. It took me a season of fiddling with our DC WDH to get it optimized and the last thing I ended up having to do is use a ball with a 1" rise to get the TT sitting properly (nose slightly down as opposed to slightly up). When it's all set up right, it's an awesome WDH.
Cams MUST be centered in the spring bar detents for the sway control to work properly. Do NOT move the cams away from the correct position in order to prevent a bar from popping out.
The above is assuming that you have the cams centered properly in the spring bar ends (aka "detents" or "crooks"). I know from experience that if using 800 lb rated bars and Reese's specs for cam bracket mounting location, it is not possible to get the cams properly centered and the cams end up being a little too far rearward.
FWIW, the bars/cams wear differently side to side and it's a good idea to mark the bars and cams arms with colored tape to ensure they are always on the same corresponding sides.
In cases like this, a photo(s) makes all the difference in the comments and advice you can get. OP does not state the TW and it would be very helpful to go to a scale fully loaded (maybe with and without a toy in the back). Significant changes in TW can affect positioning of the cams in the bar detents.