I have a Sterling tow bar (by roadmaster) that I use to tow the Jeep behind my motorhome. It completely disconnects from the Jeep. The tow bar itself connects to brackets that are part of a piece that attaches to brackets on each of the frame rails. (see photo)
They are bolted to the side and bottom of the frame rails. I'm told that they will not interfere with mounting an aftermarket bumper. They do however interfere with installing an Anti-Rock. When I get to that point, I'm going to have to rework the brackets. I've had no problems with clearance yet either. Overall, I'm very happy with the performance of the Sterling tow bar.