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The Rule of 54

BL = Bike Length measure the longest bike to be carried from front of front tire to rear of rear tire.
HH = Hitch Height measured from ground to bottom of hitch receiver

If 54 > (BL - HH) you are good to go!
If it is not and you load bike in first position, the 6 inch extension is recommended.

BL:

HH:

Result: