The Curt # C11576 hitch that is designed for your 2021 Toyota Avalon do have decent ground clearance. I do have to mention that the measurements are from installs we did with this hitch on a Toyota Camry, so they may be a little different from where they sit on your Avalon.
With that being said, the Curt # C11576 will measure 11" from the ground to the inside top of the receiver opening. If you are looking for ground clearance, the Curt # C11576 will be your hitch.
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