D-I-Y is about the best way to go. The "CAT Scale" thread is a generic must-read (non hitch specific, overall). CAN AM excels at custom hitch receivers, but a name brand hitch and "ordinary" TV can be set up by about anyone if following hitch and vehicle manufacturer instructions. Videos online as well.
Rough it in at home (level ground) using fender measurements, and then spend a couple of hours at a truck stop using a CAT Scale to dial it in (restore Front Axle to the unhitched weight with the TV loaded for travel values). The scale work is the part which really matters. TV tire pressure, etc, is also from that.
Dealers have no real interest, IMO. They'll sign off as "good enough" a combination that still needs work.
If the Jeep Commander is what you are using, then contact Andrew_T for his insights as well.
1990 35' Silver Streak Sterling
; 9k GVWR.
2004 DODGE Cummins 305/555; 6-manual; 9k GVWR.
Hensley Arrow. 10-cpm solo, 18-cpm towing
Sold: Silver Streak Model 3411