Specifically, something like this should work well for you, providing easier access to heavier outdoor items (fuel, water containers, cooler, etc).
https://www.stowaway2.com/hitch-cargo-rack
I built my own permanent version, but would have probably made it hitch-mounted if I could do it all over again.
Honestly, however, my cargo drawers are probably the best thing I have done to add usable, organized storage space to my 4Runner without any practical reduction in slace.
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Mine: 2002 SR5, Lifted, Armored, and Accessorized on 33s.
Build Thread
Hers: 2016 Quicksand TRDP, Lifted 2" on ~32s.
