Dano : It can be done , no problem .
If available , I'd get a 2'' reciever instead of 1 1/4" .
Also , remove the rear wheel off the back door and relocate it .
I put mine in a cargo basket on the roof .
You don't want the weight of the tire and a couple of bikes
past your rear axle .
It 's bad for handling and can cause pogoing .
There's a couple of pics of my set up in my album .
I use this set up in the summer and in the winter , remove the hitch (4 bolts) ,& carrier .
This keeps the road salt from eating away at them .
Then I put the spare back on the rear door .
My Rav is a 2000 but the same principals apply .