You mean the right way? Here's my way, and it works well.
The bars should really only need be set up once. You need to adjust the length of the chains as recommended, usually 4 - 6 links. Too short and it will bind and either bend something during turns or slip the brackets on the tounge. Too long and they will be doing nothing, the bars could actually fall out pulling onto the highway over the sidewalk.
Start by setting the hitch height. back the truck up to the level trailer, make sure the trailer is level front to back. Adjust the Yoke height so that the ball and hitch are at the same level, after allowing for the truck to settle to a level stance too. Do this without hitching up yet.
Now adjust the bars by adjusting the head angle.
To aid in adjusting, use the tounge jack to lift the weight off the hitch between adjustments.
Let ALL the air out of your airbags. Now lower the weight of the trailer onto the hitch, hook the spring bars, and measure the truck front and rear wheel wells. Install the bars and measure again. What you are looking for is that the truck returns or settles nearly to level, and is still lower than the rear end empty height was, NEVER THE SAME AS EMPTY OR HIGHER ALWAYS LOWER.
If the rear lifts to high or sits too low, you need to adjust the head angle of the hitch ball. Be sure to use the spacer washers that come with most hitches for the slack pin, you can't tighten thehead tight enough without those washers and the adjustment will be lost. Tip the hitch ball forward to lower the pressure, and the truck rear, and tip it back to increase bar pressure, and raise the truck rear.
Make sure you use the jack to take the weight off the hitch before adjusting the hitch!
Small changes really make a large difference, the angle will be within a couple of degrees of vertical. What you are changing is the angle of the bars exiting the bottom of the yoke. Since they are chained at the tounge, tipping it back imparts more longitudinal stress, and transfers weight away from the connection point, the ball, and causes it to rise, tipping forward reduces the stress, and lowers the ball. Think about this and you will understand how it works and why it is adjusted this way.
If you have this pretty close, the truck and trailer will now be perfectly level with each other, and the loads will be evenly distributed across all axles. It will track like a dream and you won't need a friction sway device, ever. Although Cam-Bars help with stability by increasing preload whenever the trailer and truck are not straight with each other.
Now you can add air to the airbags until the rear of the truck just starts to rise and no more. If you add payload to the truck, increase air to return to level, and always load the trailer evenly maintaining 10-15% tounge weight. Never use air to raise the rear above the level you set as it will loosen the bars and they could dislodge.
Remember, bars must be sized to the tounge weight for this to work, 750 bars on a 1200 lb trailer tounge weight will never level out correctly, the head will not be level, and the chains will be too short.
Hope this helps.