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I think another reason this is happening is my RAM 2500 is taller due to the tires. I guess I will be going with smaller tires next time.
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Not sure what your WDH looks like, but maybe the vendor of that hitch offers a drop SHANK (the part that installs into the RAM hitch). A drop shank might lower your tow height by an inch or two which would then make the rear of your trailer a bit taller and maybe then miss hitting or not hit as hard.
Another thought is to look into installing that rear trailer hitch and fabricating a wheel on a shank inserted into the hitch which may give just enough lift to help clear the driveway?
Finally have you looked into getting taller tires on the camper? maybe a larger diameter tire would lift the entire chassis enough to do the job...
Good luck