NEVER would anyone place a 5er hitch behind the rear axle in the days of drilling and bolting down your own hitch.
Can you run behind your rear axle? Sure and some do. Doesn't make it the best choice.
I would consider a PulRite steel or Andersen steel version in the normal ahead of axle position if towing a light 5er. The aluminum version at 24k is a JOKE and WILL cause bed deflection towing a heavy 5er.
OP do your research, you will find the happiest are B&W hitch owners. ZERO question if you are hitched or not with a simple solid latching system and no silly color coded latching.
Oh and another thing, no one has shown a good way to lock your hitch to the RV with an Andersen.