Just go to U-Haul and get Part Number 78445 (Class 3 Hitch). 8 Bolts later (the nuts are already welded in to the frame of the GX 470). The Truck is already prewired for the tail lights, etc., so nothing to do there. Cost for 78455 was $179.95 -- Lexus wanted lots more. U-Haul will install it for about $50 more but if you can change a tire you can DIY. Borrow a Torque wrench to get the correct torque on the bolts 65 and 17 pds depending on the size of the bolts.
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I have looked at the Draw Tite and U Haul. They dont have as high of a weight rating as the Lexus hitch. Only 3500 LBS Weight-Carrying Capacity