I have a 68 Barracuda, and as you probably know, it has a real flimsy bumper. And it has factory bumperettes. And they are positioned right where the rear sub-frames end, lucky me.
So what I did was weld a couple of vertical stubs onto the ends of the frame, pointing down. You can't see them unless you bend over and look for them. After that I just took a length of sq tubing to span those two and welded a stub-receiver at each end, to slip over the frame stubs. Then, after slipping my crossbar onto the stubs,I drilled a cross hole in each stub and inserted some hitch-pins . Finally I welded on a hitch bar with a 1.875 ball, and called it done.
Now, when I'm done towing, I pull the hitch-pins, and the cross-bar falls onto the grass, and I drive away.
It ain't much of a hitch, but it tows everything I need to tow, and it's been doing it since the very early 2000s.
I had a Dart once or twice, mid 70s cars. I had a hitch on one of them that consisted of three pieces. Two of them spanned from one frame-rail to the other with a drop-down center section, all nicely bent. One was as far back as possible and the other was further forward maybe 15 to 20 inches.
The third piece was the drawbar, that was welded to the drop-bars, and had an appropriate bend in it, so it snuck under the dart bumper and then raised the ball to an appropriate height.
Both of those Darts had the same type of affair, but one was bolted on and the other was welded on.
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The one that was welded on towed all my worldly goods from my home in the city to my new shack in the country; about 20 loads or more, one of which loads was engine blocks, heads and such; that was a flippin' heavy load. On one of the trips my 27 year old ready-to-pop pregnant wife and two toddlers came along. About a month later, my third bambino arrived, this time brandishing a weapon; it's a Boy!, that was 1984.
But I digress,lol.