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I have seen builds where the poles had a "T" on the bottom and were placed in buckets filled with cement which were buried in the ground. They looked pretty sturdy and you wouldn't have to drive over any part of the PVC.
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USMC Vietnam Veteran 
2019 Laredo 325RL
Andersen Ultimate 5th Wheel Connection
2018 Ram 2500 Laramie
Pathway X2 with DISH Wally
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