Well, we did it. We finally made the leap from tt to 5er. We purchased a 2014 Palomino Sabre 34REQS. Dealer installed a Reese 16K hitch for us. Now to look into options to level the ride out as we...
I would not lower the hitch, based on the picture it appears you have perfect bed rail clearance.
Also like I said before if he were to do as some suggest and get bags and raise the rear to unloaded height then the front of the RV would be very nose high.
IMHO OP's combo sits perfect for the load and he is well within his specs!