I've seen a documented number for trailer to bed rail/taligate clearance is 6" in many RV places or web sites. I have over 7" so I feel very comfortable. If I dropped the pin any lower, I believe I'd be under 6" and I'd rather be over than under.
The biggest problems will only occur with uneven ground - mounds, dips, turning. Hopefully, your first trip didn't have so many. If you are ever around these situations hopefully you are moving slowly anyway which prevents additional severe movement from sway. I was real close to contact twice and I was glad I had that extra inch to play with. The first time was a campsite that I backed into and had to drop into it while on the higher road. I also had to leave the same way, too, whew! The second time I was making a right turn into a gas station and the dip into the driveway was quite severe. When leaving the station I was making a left turn and it was not as bad but still quite a dip.
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