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The adjustment/variation options in fitment will be to give correct clearances on vehicle body variant it's fitted to AND give the correct tow ball height, not grounding out doesn't really come into it from a setting up point of view!
The tow ball height from the ground should be between 350mm and 420mm when the vehicle is fully laden, and measured to the centre line of the ball. That is determined by EC Directive Regulation 55. It's intended to ensure that the tow bar is universal and compatible with most all trailers, caravan chasses will be built with that dimension in mind to give correct attitude when towed. So the holes you use should be to meet that objective.
Tow bars being a projection beyond normal body limits and generally underslung below most vehicle chassis components sadly makes them at risk of grounding in some circumstances, and there is little that can be done to avoid this without compromising the tow bar itself.
Having had tow bars on cars for must be 50 odd years, grounding out is not a common experience in normal driving. Extreme speed humps if taken too fast can cause the back of the vehicle to bounce low and contact, and reversing too close to embankments/kerbs are the only two situations I recall having a towbar come into contact.
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