I remove the WD bars from my setup when I park it at home. I have a pretty steep driveway to it's parking spot on the side of the house and have to almost jack knife the rig into it's final position.
I come in at an angle, so only one set of wheels hits the driveway first, then after it's on the driveway, the other set hits, so that helps a ton with any clearance issues.
My F150 is a 4x4, so it's a bit taller to start with..
Every situation is unique, so you'll just have to figure out what's gonna work in your situation.. :)
Good luck! Mitch