Practice is really the answer.
The other thing to try is an "S" curve on approach. 5th wheels are slow to start turning but once you get them started, they can turn sharper than a bumper pull.
The S curve is as you approach the drive, you hug the side of the road with the driveway. As you pass it, you turn hard away until you run out of room then turn hard back the other way.
You may have to play with it a few times to figure out exactly where to start the turn but by making the S curve first, it leaves the trailer angled toward the drive with the truck already at an angle to the trailer, so you can get into the sharp cornering very quickly.