1. Can you leave the ball mount attached to the tow vehicle? Put a lock on it? That would solve the problem of lifting it on and off. Just put a cut up tennis ball over the ball mount when not hooked up.
2. What is your tow vehicle?
3. What size camper are you towing?
4. What Weight Distribution System do you have?
That would help to give you suggestions in hooking up the bars or perhaps get a different system like Anderson Sway Control.
There are no bars on the Anderson Sway Control system, it has chains. You just unpin a cotter pin on the triangle plate from the hitch ball.
Just uncoupled tow vehicle and camper and drive forward.
There are videos on this system you can google.