The Wilco hitch-mount I got is the high mount model that sits 5 inches or so above the hitch, so the swing-out arm is in line with the bottom of the bumper. Really only the center hitch mount sticks out in the back, so my departure angles to either side of the hitch mount are relatively unaffected, and my 1” lift springs help a tiny amount. The hitch itself hurts my departure angles MUCH worse than the tire carrier does except in that one center spot.
The hinge of the hitch swing arm does sit behind one of the exhaust tips, but with a good 6” or so of space so I hope that won’t be a problem. I might get a downward angled exhaust tip if I can find one. Those aren’t legal in California (even though there is no way it would deposit exhaust on the tarmac being so high), but it would be hidden so I think I could get away with it.
I do always plan to leave the fuel canisters empty except when needed. In California 3 gallons of premium gas is worth almost $15, so they would make an attractive target even with the (somewhat lame) locking Rotopax mount. Hopefully an empty canister wouldn’t be as attractive a theft target, but so far they have been sitting empty in my garage in any case. I like the idea of using the gas in the canisters as soon as possible, topping off early on the trail. I’ll keep that in mind and everything should be fine. I’ll also try to leave the spout cap unscrewed a while after emptying them, since gas fumes expand worse than plain air and are highly explosive.