I had a dealer fitted bar fitted (for free

) to my Sedona when I spec'd the car new. It is very neat and tidy with only the ball showing and none of that untidy ironwork you mention.
I have seen a simular installation on a friends Sorento, looks very neat and tidy.
You can haggle at the dealers mine originally quoted me over £400 but I know they sub the work

out and it costs the dealer only £190. plus 10% commission
Not sure where your are based but;
The work is done by a local mobile fitter I dont have his details but this can be obtained from
Click Here who are based in the midlands. I am sure you could discuss the ironwork issue, with them or their towbar fitter they are very freindly.
Note I have no financial or personel gain from this information it is a friendly recommendation.
Ps I may be able to get some pictures & details this coming weekend, of my friends Sorento setup if you are interested.