The R1T and R1S both come standard with an integrated 2” Class V receiver that is located behind a removable cover on the rear of the vehicle. 
The R1T has a towing capacity of 11,000 lbs. The R1S has a towing capacity of 7,700 lbs.

What type of tow hitch do Rivian vehicles come with?

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What type of tow hitch do Rivian vehicles come with? - Support Center - Rivian