Swapping 3-point tools always involved some wrestling. (No I don't have the I-Match) You can raise & lower the arms, but usually need to move tractor forward or back to get the pins on.
I found with the bucket rolled straight down & touching the ground (tractor in N) I could rock the tractor back & fourth with one lever, while raising & lowering with the other. (Obviously on a flat surface.)
(Use any of my dangerous dumb ideas at your own risk)