Many of the rack fabricating companies will make brackets that bolt on your frame and have a pipe welded onto them. The rod/Cooler rack is fabricated to have pipes that are at the proper spacing to let you slide the rack into the bracket pipes and a clevis pin to hold them in place. Maybe you can modify your current rack to use this method. I think any shop could make the Pipe brackets for you, but you'll have to add the pipes beneath your rack.
I have the setup that Squid described above. With two points of connection, the rack has no wobble like some one receiver racks have. Easy to slide on and off with only two pins to remove.
The rack in the photo has been on four different trucks (1 Toyota, 3 Rams). I would recommend welding the bracket to the frame instead of bolting it. I had a new bracket made that was bolted to the truck in the photo. The rack had a slight wobble so the very next day I had the bracket welded to the frame like on the prior three trucks. Its bomb proof and I can stand on it to tie down my kayaks.
Good luck with your search.
Superb, sir! Thank ya kindly!
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