It DOES NOT fit the '03 Toyota Highlander at all.
The arch in the hitch is not wide enough to fit over the top of the muffler. So, I lowered the muffler to get the hitch in place. But, then the muffler will not go back up in where it was, because it is a little wider than the arch of the muffler. Maybe another model will fit, but not this one. The car has the original Toyota muffler, not some aftermarket one.