TC would really have to be super legal to haul the trailer on/off the Marine base. Also, trailer safety checks and registration get pretty tough around here, so shortcuts can catch up with you.
One reason the tow-package options on new cars are not cheap is because they can include heavy duty alternators, cooling systems, the receiver and all the wiring. (I could not locate a tow-equipped SUV at the time of purchase and later I looked into getting one).
The receiver and wiring kit can be had for only $200-300. The receiver is not to much of a bugger for 2 people to install. Putting it on a rack is the sane way to do it.
But the wiring is complete PIA, requiring you to gut the rear half of the vehicle and run power to the controller unit from the battery. That is a long, meticulous job, even on a rack. That's why the labor quotes are so high.
Too bad no one has devised a wireless link trailer signal kit with modules that could talk between the engine compartment and trailer. It would be a hot seller.