Welcome to the forum
Mounting any type of carrier to the rear bumper can be hazardous. Most square tube bumpers aren't attached all that good to the frame. You can have a good welding shop add reinforcement or better yet fabricate a bracket and weld it solid to the frame.
Your next consideration will be the amount of weight you put on it. It will affect your tongue weight, and you must account for whatever is on there when you figure the weight of the loaded trailer.
So do people do it? Yup, and I've seen as little as a receiver bolted to the bumper up to a class IV receiver custom fabricated and welded to the frame. Only you can decide, but consider this: the rear end of a trailer can be a very bouncy ride..
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2012 Copper Canyon 273FWRET being towed by a 1994 Ford F350 CC,LB,Dually diesel.
Airlift 5000 bags, Prodigy brake control, 5 gauges on the pillar.Used to tow a '97 Jayco 323RKS.
Now an RVIA registered tech. Retired from Law enforcement in 2008 after 25+ yrs.