The Saris rack you're looking at has an adapter that you can leave in your receiver. That adapter mounts with the hitch-pin/bolt like other most other hitch mounts, which is used to remove the wobble you'd get with just a pin. You still have that adapter sticking out behind your bumper with the rack removed. I have a couple of hitch racks and they all use the bolt/pin mounting. It takes me less than 30 seconds to mount or unmount these racks using a ratchet wrench, which is fast and easy enough for me.
I have a Saris Thelma II which works well and I got because it supports the bikes by the wheels instead of the frame. Of course to mount it you need a wrench for the hitch-pin/bolt at the receiver.