Absolutely. Otherwise I would not be able to haul my 12k lb trailer sticking out on a 4' extension. And I have to really reef down on those bars to lift it up. I've had re-occurring nightmares of my foot being under one of those when it busts loose... Do I need to seek professional help
After you lock the tongue on the ball, do you jack the trailer back up until you have a good strain? This will make the trailer to hitch an inverted V and reduce the amount of strain required to engage the bars. The more inverted V angle between the trailer and the hitch, the less strain will be required.
When I use to hook up my 7k trailer with 1k tongue weight, I use to pick the tongue back up about 8" to make the bars much easier. I loved it when the campsite had the car and trailer already at the inverted V position, once it was even enough to not even require the pipe to engage the bars.
And as far as needing that help, nope because you have a TC which should ease those nightmares away.