The only one I know of that you don't need to grease is the Andersen--and for that you don't need to grease the ball either! But they run about $500.
You can buy a basic WDH for under $200, so that's a lot to pay for not having grease. I'm thinking about it though!
But I'm getting good at dealing with grease. I've always used nitrate gloves to handle the hitching/unhitching, but now I'm sticking an old one on the trailer ball when not in use to cover the grease. I was using zip lock bags, but for the ball this works better. And no, for the bars I'm not going to switch to used condoms.