the standard/shorter version of the Andersen should be just fine on any standard full sized truck/suv. worked on my F250 4x4 diesel, works on my 2019 Expedition 4x4, both towing an E21 with the standard height suspension, I'm pretty sure teh E23 should be the same... In fact, my 2008 2nd generation Tacoma 4x4 TRD Off Road was also exactly the same height when stock. When you setup the Andersen, there's quite a range of adjustment when you assemble the ball to the tow bar. Mine is set so the top of the ball is just about dead level with the top of the square 2" tube that goes into the truck reciever.
Now, if your tow vehicle is significantly lifted or whatever, then you will need to adjust for that, ditto if your trailer is higher than normal.
when you are ready to hitch up, measure the height of your bumper off the ground, drop the trailer on the hitch without lowering it, attach the chain plate on the andersen but without tightening the chains at all, then fully raise the trailer jack so all the tongue weight is on the ball, then tighten the chain nuts til the bumper height is close to what it was before you hitched, and that should be spot on. Mine right now is just about right when 4-5 full threads are visible beyond the chain nuts. When I unhitch, I loosen the nuts til the end of the chain bolts is about flush with the back of the nuts, use the tongue jack to take all the trailer weight off the tongue, then I can drop the chain plate from the bottom of the hitch and finish unhitching. I leave the nuts and chains hanging on the trailer and just put that chain plate near the nose jack.