You might get 2-3 inches from tires. But don't want to leave it set with tires that soft.
Might think about building something like the converter used to pull second of a pair of semi trailers. For walking speed/short distance a plate with hole would work for 5th wheel.
Back in until close to hit, allowing for lift as unload TV. Unhook, push dolly under pin, and lower. Hook dolly to bumper hitch, lift legs, back on in. Put weight on legs before unhook.