The PTO that I have is horizontal. I just lower it to the ground and lean and roll on the heavy logs then split them.
There are horizontal log splitters that have log lifters. They're more expensive but at least you don't have to lift them.
I have a couple of these that help a lot too..
https://www.amazon.com/Fiskars-360070-1001-Hookaroon-28-Inch/dp/B01LYA0T9B