Drawtite hitch part no 41935 fits good if you are not using the TRD sway bar. I believe this is a Class V hitch and the reason I installed it on my RCSB SAP is to stiffen the rear frame. Works great. Heavy, weighs 85 lbs. It just have a tight fit between the plastic bumper cover and the hitch.
Here are links to the pics:
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