I found a Hitch Gate by WILCO for sale locally and decided that this may be the answer. It mounts to the 2" receiver and swings out to allow access to the camper.
I had a local welding shop add some extra tubing and steel plate. Primed and painted it.
Added the ROTOPAX mounting hardware.
Mounted the gas cans. The Hitch Gate also has a Hi-Lift mount bracket that I will add later.