Brother had the same hitch on 4 Suburbans, and it was a witch to change vehicles. And because it had to swing past the ends of bumper, it stuck out a long way when it was in center.
Bolting tight to a channel shaped frame, just drill and bolt. Box section? Harder to drill, and need a sleeve to be sure the box does not distort when torque the bolt.
As for the way it tracks; It tracks more like a 5th wheel. The part between ball and pivot becomes a trailer extension/longer trailer. And the pivot close to axle near same as 5th