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The usual consensus is the weight concentrated from a hitch mounted bike rack at one point on the factory standard bumper would be too much torque and cause failure. Reinforcing the bumper has been accomplished by some with much success. If you have the factory cargo rack, mounting the bikes to it has also had success.

I have a 2010 6.0 with two jacks for lights/fans. One near the hinge point and another in the corner of the dinette benches.

The space between my cover and the camper gets filled with tarps, my awning and poles, entry mat, a rake and a few other flat items. This takes care of any looseness of my cover.