With our hybrid we have no trouble putting the front bunk down while hitched up. Comes in handy for one night stops. We just get a pull through site and stay hitched. Give it a try on your setup and see if the bunk clears.
As for backing up, as others have suggested - an empty parking lot and some cones are the way to learn. There are always You-tube videos that suggest different techniques that you can check out, but in the end it just comes down to practice. The biggest thing I miss from backing up our popup is the fact that I can't see over the top of the trailer any more. Had to learn to use the mirrors...