I am with tachograph on this
I do not know of one unit in general use that does not have height controls and every place I have ever been to over the last 10 years have insisted that they are used for normal un/coupling
Doing it using the height controls means that going under the pin does not happen and the need to stop, get out, and check the height is not necessary
IMO using height controls is by far the safest method but so far it is not widely taught by trainers or used as the preferred method on test