the taos isn't rated for towing (AWD and FWD) and thus most people say a hitch isn't a good idea. For a bike rack,it's completly fine. I had a hitch on my previous jetta for bike rack purpose and the jetta is in the same boat as taos. Just don't tow with it, that would be a bad idea. it is very unreasonable for VW to think people will put bikes on the roof, garages and some people can't lift a bike to the roof. The dealer is going to tell you that any hitch is a bad idea because VW doesn't offer a hitch and there is zero tow rating.
the rear trunk mounted ones are extra weight that will stress the gas struts that hold up the rear door. it is very inconvienient to have bikes on the rack and needing to get into the rear. a hitch mounted rack is far better in every respect and doens't stress the vehicle in the ways that towing does. the rear mounted ones will also break your rear wiper when it hits the rack (because its programed to activate by default when in reverse)
what VW should have done was make a factory 1.5" hitch for it because those are great for bike racks but are not good for towing. instead, the 3rd party options are 2" hitches which gives the illusion of being able to tow.
anyway, get the trailer hitch and 2" receiver bike rack. its solves all the issues and if you don't tow, it is no danger to the taos.