We bought this, or a version of it many years ago.
Thule ApexIt worked well for us behind our pop-up camper. Near the hitch you can pull a pin and the bikes swing downward to make camper door accessible (but problematic for a step probably).
We can tow and put the rack on the towed vehicle if it has a hitch, or just on the pickup when not towing.
I cut our four position down to two position. The horizontal portion also folds vertical when not in use by pulling a pin.
But ours wasn't as cool looking as this example. It also wasn't anywhere near that price. Check a local bike shop or sporting goods store for lesser priced versions.