Install a Pull-Rite SuperGlide automagic sliding hitch and your worries are over. The only downside is they are heavy, so if you are already overloaded over the GVWR of your pickup, then a SuperGlide will just worsen the problem. But assuming you have enough truck to tow that 5er, then the Pull-Rite is the answer.
Traditional Series SuperGlide - For Short Bed Trucks | PullRite Hitches
Note the SuperGlide comes in three different methods to install in your truck. The "traditional" SuperGlide install kit has been around for years. The newer ISR (industry standard rails) install kit is relatively new. ISR means it will plug into the common Reese above-bed-floor rails. And the newest version will plug into the factory-installed 5er/gooseneck install options that are optional on Ford and Ram trucks and have the bed rails under the floor of the bed.
Grumpy ole man with over 50 years towing experience. Now my heaviest trailer is a 7,000-pound enclosed cargo trailer, RV is a 5,600 pound Skyline Nomad Joey 196S, and my tow vehicle is a 2012 F-150 EcoBoost SuperCrew.