It is probably normal noise and nothing to worry about. There are some significant stresses on the system and most noises are to be accepted and not worried about. A little oil or grease at contact points is helpful.
I always take the bars off when I'm parking at home because I have a rear clearance problem. Otherwise, at campsites, etc. I seldom remove the bars unless I'm ready to unhook.
Gene
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'92 Limited 34ft (now sold); '96 Dodge Cummins 4X2, 5speed
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