Ok, I feel I have a suitable solution to my clearance problems.
I did the WD & sway hitch set-up. You can get two different length shanks (bring it on), and I purchased the longer T-shank.
My van didn't settle before and doesn't now, but the tow quality has improved big time.
No more bucking at the hitch and sway reduced quite a bit.
Here are pictures of the clearance I have now. This is how tight my rig has to turn just coming & going from storage.
Hopefully not tighter than this in RV parks.
I could get more clearance by swapping propane tanks & batteries, but enough of throwing $ at it for now.
Whatcha think?