How about this?
If you had a camper top/aero cap that extended past the pivot point on the hitch and the trailer was the same height or below the extended edge, you could reasonably use some shaped doors attached to the sides of the tow vehicle that should allow articulation of the trailer. Doors could be pulled tight with some bungee cords.
The trailer would need something that tucked up under the extended cap...probably something inflatable so you could easily take it down to unhitch the trailer.