Next time you pull into your driveway with the trailer stop before you get to the top and try backing up. If you can't do it, put it in drive and finish pulling up to the top.
Or try a short section first and increase the distance as you get more practiced.
I wouldn't worry about using 4wd, hi or lo, on dry pavement as long as you go slow and for short distances. Don't do it at normal driving speeds though.
practice, practice, practice and before you know it, you'll be the expert here giving us the advice on how best to do it.