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I self installed on a Jeep TJ last summer and it was a bit under $3,000 for a really nice set up. The base plate was really easy and took under an hour. “Permanent”brake system (Stay in Play) was the most complicated taking me a good 4 hours. If you use a portable system you’d not need that labor. Still I can see it costing $4,000 at a dealership. I think I did a better job than most “techs” would do. Last pickup I bought I had the dealer install a trailer hitch and they left off 2 of 6 bolts because the holes were not perfectly lined up. Had to take it all apart and fix it in about 5 minutes with a rat tail file. I don’t trust most shops. But that’s just me!
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