I've installed a Draw-Tite on my 2002 - actually from what I heard in the past (if true) - Draw-Tite, Hidden-Hitch, and Reese are all the same company. Planning on getting a Hidden-Hitch for the Matrix. Not a whole lot of work to put one on - you do have to drill through the bottom of the frame rail to get acess to the nuts, unless you have some welded nuts already in place on the frame.
There are some instruction on the Draw-Tite website http://www.drawtite-hitches.com/" target="_blank">http://www.drawtite-hitches.com/ that show you what is involved. They did make mention of notching a panel, but I don't remember if I had to do that.
Works for me and was one of the least expensive of the bunch. I got mine from a physical retailer - but they do sell them online on their own website for a decent price.