The bottom line model Highlander is a 2.7 liter front wheel drive, but they sell few of them around here.
I have the 4WD model with the 3.5 liter V6.
On the rear, they remove the two towing hooks and use those holes to attach the hitch.
There are also 2 tow hooks in front, but I don't know if a front hitch could use those connection points.