I went with the Curt aftermarket hitch on my 2021 R4Prime. It was a pretty easy DIY. The bolt holes are already there. I just had to remove the factory tow hook (remove 2 13mm bolts, and it just falls off in your hand) unhook the rubber exhaust hangar to drop the exhaust a bit, remove a couple of stickers that cover the bolt holes, 4 bolts in and it all goes together easy peasy. You don't even have to jack the car up. It took me about 45 minutes, but 20 minutes of that was me wasting time trying to install it without unhooking the exhaust rubber hangar.
$162 on Amazon right now....
They are available on etrailer too, but at the time, Amazon was a bit cheaper and faster shipping. CURT 13416 Class 3 Trailer Hitch, 2-Inch Receiver, Compatible with Select Toyota RAV4 https://www.amazon.com/dp/B07R2YPVHN/ref=cm_sw_r_cp_api_glt_i_RGAN1J0DQJNNEQWZC2HT?_encoding=UTF8&psc=1
Congrats! I bought my XLE Hybrid as an early birthday present to myself too!
I went with the Curt tow hitch from Amazon. Install was pretty easy, just needed someone else to hold it in place while I lined up the bolts. My primary use is a bike rack so I didn't want to pay the $900 for an OEM one.
I love the XSE. I have taken it on some sketchy backwoods two-tracks and haven't yet had a problem with getting stuck. It's quite capable... although admittedly my previous vehicle was a Honda Fit. This is my first AWD vehicle and it's quite a difference. I chose the XSE over the Adventure in a very small effort to be green and produce less of a carbon footprint.
I have seen some hitches that require cutting into the bumper but I didn't want to do that. This one simply goes below the bumper. The hitch now appears to be the lowest point of my car's undercarriage and measures 8.5" above the ground. (Acknowledging that the XSE claims only 8.4" of clearance). All my tires, wheels and suspension are stock.
The hitch by Curt, made specifically for 2019/2020 RAV4s. (link to Amazon)
I just installed the CURT hitch ($180 on amazon) myself last weekend. You don't need to cut into your bumper, it goes below it. So, you do loose 203" on clearance, but I don't mind that. Cutting the bumper seemed like too much hassle for me.
Lessons I learned.
I also bought the Kuat Transfer V2, 2-bike hitch mount platform rack for my mountain bikes :) Were you thinking of any specific bike rack?
Here is a picture. I went with a hitch by Curt. Here is the link to the hitch on Amazon.
I just installed the CURT hitch ($180 on amazon) myself last weekend. I haven't done the wiring harness. I would say if you are able to get it all done for $300-$350 at uHaul, its definitely worth it.
Lessons I learned.