If you didn't hear it towing it could gave either not been load enough to hear or not making any noise. In my thinking with the stabalizers properly set the stabilizer would have to move before the suspension does. I'm in the habit of having the window down and radio off when pulling into or out of the storage lot and the campground. I know the sounds that my hitch makes so I listen intently for any "new or different" sounds. No new sounds makes me more confident that all is working properly. That said this doesn't preclude visual and mechanical inspections.
2012 Laredo 303 TG
2010 F250 LT Super Cab, long bed, 4X4, 6.4 Turbo Diesel