Very easy to do. Bumper does not need to be removed. I did lower the spare tire to give myself some room to work. If memory serves, I had to remove two bolts on each side, line up the hitch receiver with the bracket and frame, and reinstall the bolts.
As meistreguy said, the job takes less than an hour total.
I run a Reese Class III/IV Hitch Receiver #33058. Made in the USA and this WILL fit your truck. Here is a link to the install instructions provided by Reese:
The instructions say 1997 and prior models, but were also applicable to my truck and will be to yours.