Well I worked up the nerve and went to take my camper out of storage for the first time since I got the GMC. I needed to raise the hitch up one notch to avoid damage to the bed rails when on uneven ground, but other than that it went "without a hitch" (excuse the pun) Plenty of room between the cab and camper. Only concern is that the damper pin box comes close to the bed rails on tight turns. I could probably eliminate that issue if I raised the hitch one more click but I'm already nose high. I may end up cutting off some of the extra metal on the pin box to make room.
So to answer the question...You can tow a 5th wheel without a slider or sidewinder when you have a 5'8" box. Of course it would vary from trailer to trailer.