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The majority of folks seem to feel 6 inches is the needed space, I ran for close to 8 years as a full time traveler with just under 5 inches of clearance and never had the trailer hit my bed, so I will say 5 inches worked for me.
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2013 Tiffin Allegro 34 QFA
2015 Cadillac SRX (towed)
2019 Tesla Model X
1991 Avanti Conv
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