"Urban" heavy duty bumpers?

My 2010 rear bumper is a bit bent and the attached hitch is rather rusty. Looking for a heavy duty bumper with hitch to replace it. Most of the ones I've seen (including matching fronts) are designed for maximum attack angle and clearance. Since most of my obstacle avoidance is probably going to be insane street drivers texting instead of looking at my tail lights, I would actually prefer to not expose as much of the tires/suspension to hits (front and rear). I am just envisioning having to extract a honda civic from under my truck bed. My 2010 DCSB Off road is running the TRD Baja suspension, AALs, and 265/75s so I'm a few inches taller than stock. Any thoughts on best bumper designs to achieve a balance between off road and on road protection?

Thanks.

 

Most of the standard clearance rear bumpers would meet your requirements, they occupy the same area as a stock bumper but most tuck the trailer hitch up so you lose that. Fab Fours uses the stock hitch, All-Pro has a attachment for a hitch that is a bit lower.

 

All Pro comes out of from behind the license plate so it's pretty high.

 

Fab Four’s front bumper looks pretty urban to me.