I think you will need a sliding hitch. I have a long bed so do not have your problem. There are alot of folks with short bed trucks pulling 5ers without a slider, but they have to watch the turns very carefuly to avoid damage to truck or trailer.
2000 Quad Cab 2500 Auto w/4:10 rear end. DTT 89% VB, TC, Mag HI-TECK Pan, Smart Box, EZ, PAC Brake, Pillar gage mount with EGT, Boost, and Tranny output temp, Miller Manufacturing Truck Bed Cover, with RBW 5er hitch, and
Rigged to tow a 29' Automate 5th wheel.