Newbie Alert - WDH and Backing

I think I recall being told to only back in a straight line with bars under pressure. Is this right?

Seems I've seen some folks back into their site then release bars. Just moved from popup to travel trailer and WDH and don't want to do any damage to anything. Also when returning home my driveway is slightly uphill and I have to come in at an angle for a bit. Should I release the bars before backing in?

Thanks for the help.