Just keep it greased and clean. I've seen too many put on and forgotten, and frozen where they are. That would be a pain to remove if it was rusted in place.
I never leave my hitches in, they are removed as soon as I am done towing whatever I am towing. I personally don't like the looks of hitches in trucks but that's my personal opinion.
I remove mine because they seem to remind me every time I have one in and walk behind my truck.
I have a still have a dark purple dent in my shin from walking into one 3 or 4 years ago.
Like cars, coffee and guns, hitces are a hotly debated topic.I am surprised you are getting opinions on RME. Usually such a boring non-opinionated crowd here