Your hitch needs to mate up with solid surface to surface contact, by installing a hitch through the rubber mat, you make allowances for slippage, the mat will act as a shock absorber or spring allowing the hitch to move, eventually you could see damage and or failure to the bolts as they stress from the movement. As a manufacturer, there is no way they could recommend attaching in a manner that is not 100% secure.
If this causes too much heartburn to see the mat either cut or removed as recommended, then best bet would be to purchase a second rubber mat, one cut to allow the hitch and one to use when the hitch is not installed. Costly, but less than if the bolts fail.
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