I pulled a whee trailer with 2 mopeds from virginia to new orleans with a 5dr yaris. Shouldve installed sway control... it didn't wanna pull straight...Hitch rack is definitely a better solution but you should consider upgrading your rear suspension.
The hitch receiver bolts directly to the frame on a yaris.
I hauled 600lbs (concrete bags + trailer) a very short distance at 25mph. Brakes were definitely not up for going faster.(edited)