When adjusting the trunnion bars they should be parallel to the trailer frame. The trailer frame should also be parallel to the ground so make sure you have the proper drop on the insert to the hitch. With the holes on the insert you are able to vary this. You must also adjust the ball attachment so it is at the proper angle. All this should be included in the instructions.
Air bags would also help in keeping the rear of the vehicle at the proper height so you steering is not affected.
Haven't a clue about sway control!
And if in doubt visit an RV dealership and talk to one their mechanics on how the hitch should be set up.
