I tried backing up ONCE with my Jeep hooked up.
Never again!
I carefully parked at a burger joint so I could drive straight out. then several people parked next to me and in front of me so I could not move anyway except backwards.
So, believing what I had read on this forum, I decided to just back up. After all, others have done it!
I made it back about 4 or 5 feet when the Jeep steering SLAMMED over against the stops in a full left turn. Luckily, the parking lot was gravel, so the wheels just slid, and caused no damage.
I decided right there that no matter who says it can be done, I will never try it again. I will unhook, get straightened out as needed, and reconnect.
I was by myself, so having somebody hold the steering wheel was not an option. Since then, I have read several reports of people trying that and ending up with broken bones.
SO, IMO, I will unhook and get set to go then reconnect. It is, IMO, all around safer!