You might want to consider getting a nice Blue-Ox (my preferred brand) or Roadmaster towbar with arms that can be collapsed and extended for towing. They allow you just get close and then the arms extend so you can put the pins in. When disconnecting, you can release the tension on the arms if you're not straight and then pull the pins. They're much easier to use than any of the fixed length bars like yours sounds like.
You may need adapters to permit you to connect the brackets on your towed to the new towbar.
You can often find good towbars used on Craig's list for under $400.