An alternative is to mount a front hitch receiver on your truck. It doesn't need to be as heavy as the main hitch on the back of the truck, because it will never see the stresses and loads of over-the-road use. But with a hitch on the front, tiny adjustments in position and direction are possible. No need for a full-blown WDH - a simple one-piece ball mount (even from WalMart!) is fine. And once you remove the ball mount, the receiver is barely visible.
For example, here is the one that would fit my truck.
https://www.etrailer.com/fmr-2014_Ford_F-150.htm
As for scraping the bumper or the hitch, a couple 2-foot pieces of 2X6 or 2X8 plank, laid on the pavement across the direction of travel, will work wonders. I know I have to use them as I back my TM over the swale where my driveway meets the street.
Bill