Torklifts doesn't require drilling as they use the bed bolt and exiting holes/slots in the flame.
However, if you are set on a belly bar, you can do the same without drilling a hole in the frame. For a high point, make a riser to catch the bed bolt. For a low point, use an elongated nut to fit in a nearby slot on the frame.
I had a belly bar I made for my truck when I picked up the camper. Could have also kept it but like the clean design of the Torklifts. They are tucked up tighter the sheet metal (by about 5" on my Ram), doesn't hand down below the frame (yes, I go over things a belly bar would catch on), and have the removable ends so aren't really seen when they are removed.