I ditched the original bumpers, and installed ones from Smittybilt. These have a D-ring mount on the face of the bumper.
https://www.smittybilt.com/product/index/34.htmI purchased a used Falcon 2 towbar from eBay for less than 1/2 of the original price.
In stock configuration, it used a spreader bar, and the arms fit over the pins. I replaced the ends of the arms with these adapters, made by Road Master, the manufacturer of the tow bar:
https://www.etrailer.com/Base-Plates/Roadmaster/RM-035-1.htmlThe adapter kit came with shims, which fit the D-rings perfectly. I used some JB Weld to secure them in place, so I'd never have to worry about installing them each time I used the tow bar.
Here's the final result:
Much quicker to connect/disconnect. No need to climb under the front of the Jeep. Very secure mount as the heavy duty D-rings are welded to 3/16 steel, which is mounted to the frame in multiple locations with Grade 8 hardware.
Once we arrive, the safety cables are disconnected, as is the trailer light cable, then the pins are pulled. The tow bar arms collapse, and fold up against the back of the RV. Nothing left hanging on the front of the Jeep.
This works so well that the only way I know it's still back there is by periodically checking the rear view camera!