5 inches should be enough- I assume that's the overlap when you're actually in tilling position and working. Most tillers have adjustments for the attachment point of the 3 point pins to make the shaft as straight as possible when working.
Just be careful when lifting, that you don't lift it far enough for the shaft to come apart. Might want to practice a little before engaging PTO, and putting a stop on the lift lever so tiller only lifts far enough to clear the ground.
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