I use a Roadmaster all terrain (I think that's what it is called), which stays on the coach when we disconnect and is reasonably easy to connect and disconnect since it adjusts when things aren't quite lined up. We tow a 4,600 lbs Hummer. It connects directly to your 2 inch receiver and doesn't use a ball. I would recommend one or something similar.
We previously had a Roadmaster that stayed on the tow vehicle when we disconnected. It worked ok, but connecting and disconnecting were more difficult. Don't remember the model number.