Just took this off my RW & gave to my son. I modified it for a tandem bicycle, but it was designed to be motorcycle rack with a 400lb rating. Purchased at Harbor Freight Tools on sale with 20% coupon for $119, sounds like just want you're looking for.
Offset shown, also from Harbor Freight, with it was needed to clear the rv ladder & raise it so as not to drag.
The short section is the ramp & stores as shown.
You may have to get a welder to add gussets/reinforcement to your RW hitch regardless of what you use as the hitch is only rated for 300lbs.