You might try adding a roller under the hitch, but I'm not sure if that's where it's hitting.
If it's the tongue jack, perhaps changing to a swing-away jack or removable jack might help? (See Jack-E-Up photo)
On our driveway, I had a steep gutter at the end that I smoothed out by forming a concrete ramp to ease the transition.
John-Dave and Marilyn
04 Dodge Dakota V-8, 17 Dodge Durango V-6, 19 Ford Ranger 2.3 Ecoboost