I agree with removing the hitch, and I have the scars on my shins to prove it....
HOWEVER....with pedestrians, cycles, and motor vehicles of all types, the generally accepted standard of care is that it is the responsibility of the person or object in motion to avoid the person or object that is stationary....except if the owner or personable responsible for such stationary object was careless and negligent in leaving it in such a way that a reasonable person would be injured.
With car insurance, you are never at fault if your car is hit when it is parked....BUT it must be legally parked!
Worse than hitches are the people that leave the platform cargo carriers in place when they are empty...legal but still dangerous IMO.