I take mine off during towing. My hitch prevents me from fully retracting the jack if the foot is on. Also under a couple of unusual circumstances, the WD bars also get in the way of raising and lowering the jack, once most of the way down, it isn't a problem, so it is always on when parked.
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Flagstaff 26FKWS / 2019 F-150 3.5 EcoBoost SCrew