Ours came with the factory installed bolt-on. I would NEVER install something to the rear bumper. Seen too many bumpers in the process of coming off of RV's at campgrounds.
And don't forget, a 3000 lb rated hitch means you can usually only have about 300# of tongue weight, which limits what you can put on a rear rack.
BTW - having just gone through the research, there are very, very few bike carriers that are rated for RV use. Most explicitly warn that they should never be used on trailers. Swagman (which I bought) is the most frequently named, and they only have 3 RV rated models. There's a lot more movement due to the length of trailer behind the wheels, that most racks (or bumpers) just can't handle! And pay attention to where the receiver end of the hitch will end up. Mine was set in, which means I needed an extension tube on the bike rack, so it would clear the bumper/not hit the rear of the 5th! And that leads to clamps to tighten things up, so you don't have all the parts bouncing off each other as you go down the road.....
2012 Ford F-150 Eco, Max/Max
Jayco 26.5 RLS, Reese Sidewinder