Aside from it s ucking to have the bike on the back and have to remove it every time you want to go into the camper, there is no reason that you can't build one with NO welding if that's a deal breaker for you.
You could even hang or stabilize it a bit off the AF rear bumper step (like the one where the sewer hose goes).
Get a 4' length of 2.5" tubing as heavy wall as you can get and a shorter piece of 2" heavy wall. Slide one in the other and drill both for a smaller bolt or 2 to hold them together, drill both ends for hitch pin.
If that doesn't seem sturdy enough, there are bolt on ways to stabilize it vertically and laterally.
Or find a mom n pop shop that will weld and drill the same for you.