Since the topic of tow bars came up I need to relate a story that touched close to home.
Decades ago my wife and I had two foster children who were adopted to a family who lost their son. Situation was their son was traveling home with his aunt at night. A Penske truck was traveling the opposite way on the highway and had a car on a dolly. Guy who hooked car to dolly evidently didn't secure the car properly. The car came loose, traveled across the median and went airborne. It came down through the windshield of the car their son and his aunt were in. Needless to say they were both killed immediately in the most gruesome way I can imagine.
For heaven's sake's, if you use a dolly, be sure to secure it in the proper way. Same thing for a tow bar. People's lives depend on your responsibility as the hauler. I suppose this goes for trailers as well.
Don't forget to do everything you can to be sure your load is secured as well as humanly possible. I know there are people out there who can build totally safe tow rigs but that's not everyone.
Sorry for getting off topic but we all need to be aware of the consequences of improperly secured loads. I added this because OP said something about not being comfortable with a tow bar with bracket drilled into frame. I don't want anyone else to go through what those parents went through.
Please, if you don't feel comfortable with the towing/hauling setup don't do it!
Sorry if I got off topic just wanted to remind people to please as safe as possible.