If you can come in the other direction it will be much easier for two reasons. First you will be able to see what you are doing. Second you will not have to make as sharp of a turn to get into the driveway which means you will not have to work as hard to get the truck back in line with the trailer. I live on a 55 mph road and I will only back in from the far lane. Fortunately the road has a wide shoulder that I can pull onto on the far side where I can wait for traffic to clear. Once it is clear and I get onto the roadway it is the other drivers responsibility to not hit me.
If I did not have the far shoulder to pull onto I would stop in the lane before the driveway, let the wife out to go stand behind me stopping traffic, pull front and proceed to back the trailer into the driveway.