I backed trailers all my life almost and unless there is a compelling reason not to drive it on, I would drive it on. I find it is much easier to keep everything centered and all lined up straight when driven on. Then backing off there is less chance driving off the side.
To me it is like driving a truck through a 9' wide garage door and keeping it straight in the garage. It is much easier to back out straight than to back in straight. Maybe it is just my quirk.