I had the same problem with my driveway. Ours is pitched about 10' rise in 30' run. That is an UP slope to the house with a valley at the road, the issue may be different with a DOWN slope and a hump at the curb. (See pic below. Trailer in storage, but in summer would be right where the car is parked).
I did eventually learn the correct angle to hit it at so that it would not scrape, but not until after dozens of scrapes, and with a tight street I rarely got the angle exactly right anyway. There was never any damage caused aside from a few shallow gouges in the paving.
A couple of things that helped me, or may help you:
1) if the angle is not drastic, take it slow, and let it scrape. Your tongue jack will be lifting less weight than it is designed for (probably a couple hundred pounds of tongue, and a couple of hundred off the TV rear axle), but the lateral scraping force is not what it is designed for. I never bent my jack after many times scraping, but it could happen so use caution. You could consider placing a thin piece of plywood where the jack hits to help it slide easily and protect the drive; never tried this, but it should work. I never got used to the sound by the way; just grit your teeth and go slow.
2) Always leave/enter the driveway empty. Pull out and park at the curb, load up and fill the tank if taking water. A light trailer will sit quite a bit higher.
3) I like @Jm9301's suggestion, but you may need to hitch twice. Your trailer should be flat to slightly nose down when towing. A nose up trailer can be unsteady on the road. You may need to swap back to the normal hitch for travelling.
4) If you have a softer surface driveway, cut a groove where the hitch hits. Sure it's a trip hazard, but you won't scrape anymore.