We chose a Curt front mounted hitch for our bikes. Curt make two different hitches for our truck. We chose the one that mounts below the bumper.
Here is how the bikes look mounted up.

And this is the view from the cab.

It works for us. I have not towed at night so I don't know how much if any the bikes would block the headlights. And loading is a breeze.
Another option would be a pin box mounted bike rack. I didn't feel we had the room between the cab and 5er with out short box. But I am happy with our choice.
Good luck, John