This is how I installed mine up front. It did have a steel cross piece, so install was easy peasy.
I did the same for the rear, but put the front/back bars on the rear, as it was a better fit to do it that way.
Overall, these have made all the difference in stabilizing the rig when setup in camp. So glad I got them.
Mitch
2013 F150 XLT 4x4 SuperCab Max Tow Egoboost 3.73 gears #7700 GVWR #1920 payload. 2019 Rockwood Mini Lite 2511S.