Have you considered using a hitch extender? Here's one with a 3500 lb capacity and a 350 lb tongue weight max. The 18" version should put the pivot point of the trailer tongue behind the edge of your open tailgate.
As someone who has tried all kinds of RV's over the years, and as cute and cool looking as teardrop trailers are, I strongly recommend getting an RV with a bathroom and standing headroom. Have you considered small toy haulers. They come as short as 16 or 17 feet (box length, add four feet for the tongue). Just long enough to stuff a kayak into and will easily accommodate two motorcycles or one ATV. IMHO If you are going to deal with the hassle of parking a trailer, it may as well be one with most of the comforts of home.....
I don't know if you are only interested in a new RV but this is a great time to buy used RV's both due to the time of year and the economy. A small toyhauler can cost substantially less used than a teardrop mostly due to the cool factor of the teardrop.