Would be nice to know what hitch, and what type of sway control you plan on adding? Hard to answer such a generic question, but the generic answer is "maybe".
With the Reese hitch (15K capacity, SC model friction anti-sway) I do not remove bars to turn or park in my storage spot or in a camping slot. It seems to handle very sharp turns easily and no major creaks or groans - at least from the WDH - the DW however, now that's a different story.
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Brenda and John
'14 Ram 3500 MCSB 6.7L HO PullRite 16K S/G, Grey Columbus 320RS Camped '14 - 146 days/'15 - 196 days
USN-EOD(Ret), Master Chief, 30 yrs,
Master Blaster of the Navy