I used to leave the hitch head on the truck, and stow the wd bars on the A frame.
I finally purchased a Hensley Arrow hitch, and now everything stays on the travel trailer, with exception of the stinger. It stays in the receiver or in the back of the truck.
It is possible to leave everything connected to the front of the trailer. Using a power tongue jack to take the weight off the back of the truck, until the stinger loosens just a little. Release the tension on the Weight Distribution Bars, and pull the stinger pin. Drive away. Then it's somewhat difficult to re-connect, but it can be done with assistance from the better half.
Al