We tow our 2009 Frontier with a Roadmaster coach-mounted towbar, and "XL" brackets (base plate) 344-1. There's an "MX" version of the bracket also. Both cover Years 2005-2016. Our 344-1 was easy to install. Easy in terms of straightforward, but like most modern vehicles involves removing the bumper "fascia" (cover). It's well hidden and sits inside the bumper opening, well off the ground. I'm not at the truck, but I think the connecting points for the towbar work out to 23" off the ground.
"XL" is pretty much the original hidden Roadmaster style. Connecting arms are square tubing and slip into larger square tubing then secure with hitch pins. The newer "MX" is a twist-to-connect similar to Blue Ox. Read Roadmasterinc's notes carefully and make sure the information in the Notes doesn't eliminate the tow bar you want.
To Bud's point about Stowmaster. We started out with a Duncan brand vehicle-mounted towbar equivalent to Stowmaster. And yes, simpler to telescope the ball hitch out and drop onto a ball, than to keep one arm from falling (on your FOOT!) while getting a hitch pin into the other. Our coach mounted bar is also a Roadmaster Falcon, 6000-lb capacity, the All-Terrain version. I didn't like leaving the bulky tow bar on the toad while camping, and I didn't want to lug the heavy think into the coach and store it under the dinette, the only place we have that fits it.
If God's Your Co-Pilot Move Over, jd
2003 Jayco Escapade 31A on 2002 Ford E450 V10 4R100 218" WB