Get the installation instructions for the baseplate (BlueOx, Demco) or towing bracket system (Roadmaster) that fits your CR-V. See how much work is involved, what changes are made to the structure and appearance of your car. This will help you choose a brand, and determine whether or not you want to do the work yourself.
If you are thinking ReadyBrute, a baseplate is needed (Demco, BlueOx) but if you like how Roadmaster does things, BlueOx has adapter plates that convert some of the Roadmaster bracket systems into an external baseplate.
What the installation does to the car might be important to you. For my Honda Fit, I chose the BlueOx solution because it leaves the original bumper bar intact. The Roadmaster solution mounted in place of the bumper, and would not have comparable behavior in a collision. For a different car, that situation might be reversed.
Buying everything as a package from a dealer, having it installed, could be $2000 to $3000, depending on labor rates. That would not necessarily include the braking solution, prices for that vary greatly, from low cost surge brake systems like ReadyBrake ($300-450 plus installation cost) through $1200-1800 "box on the floor" solutions, to proportional "unified" systems with a similar price but requiring installation on both motorhome and towed vehicle.
