Manufacturers will modify their floor plans to meet disability requirements. It comes at a price of course but allows you to have an RV that really fits your needs and abilities.
In reality, I find a small TT and the large 5th wheel we have about the same for setting up or breaking down camp.
Once you get used to the size it's just as easy to tow a 40 foot trailer as it is a 20 foot trailer.
Today's TT and 5th wheels can be equipped with auto levelers and other automated items to make it easier to hitch/unhitch and setup camp.