I found an inexpensive rv level @ camping world that allows you to 'remember' the height you had @ the time you disconnected by unhooking and pushing a little marker over the bubble when unhooked before leveling...
when ready to hook up, bring your 5er to the same marked level and hook up !
now, where is the right level to hook up the first time ?
obviously you have to back straight into the pin,
also be at the "right" height - usually I set the 5er pin box right above the back of the hitch so it rides up the hitch as I back in...
I can 'hear' when my hitch clamps down because it slides and locks the release arm in a very distinctive sound (maybe I could put a bell on it to be sure it's locked ?!? :) )
good luck and you'll get it with practice.... and that's the key !
practice when there is no pressure to get it done quickly !!!