I've seen some local transit buses on the E450 cutaway chassis that has the bike racks in the front. They fold up when not in use. Bikes can be easily and quickly loaded and unloaded. Since they have it on the E450, it should work on our RVs. This way, the rear hitch is free to tow a toad vehicle.
Anyone ever tried it? Here is a link for those bike racks.
https://www.sportworks.com/product/dl2