Hey there @TheYuens!
I see that one of our users @OldGuyot was able to answer the first part of your question. Removal is not a difficult task with hitch racks! To answer the second part of the question, i'll link you to a previous conversation where @REI-JohnJ gave some great advice on hitch carriers for heavier bikes.
Before you settle on a rack, be sure to know what size hitch receiver you have. Some racks are offered in 1.25" or 2". However, some racks are only available in one or the other.
Hope this information helps!