I agree, you need an electric tongue jack which will greatly help with the hitching process. Once the ball mount is in the truck's hitch there's really no reason to ever remove it. The bars will need to be removed anytime you drive the truck without the trailer but they usually aren't that heavy.
As a rule campgrounds do not do anything like that for you, for a fee or otherwise. I suppose you could usually find someone at most any campground that would be willing to help as a favor but that's makes you quite dependent on random strangers.
Did you have anyone "professionally" adjust your WDH for you? If not it sounds like you will need too. A trailer shop should be able to do that, then just leave the hitch head in the truck. Use the electric jack to raise and lower the tongue for easy bar installation/removal.