I don't have a hybrid, but I installed a Draw-Tite hitch last year to tow my boat with. I was also nervous about scraping because of the issues we had with the hitch on our 2011 Sienna, which would scrape on a regular basis. If I remember right, the hitch on my Pacifica sits almost 2 inches higher than the hitch on my Sienna, and I have yet to scrape it in the year it's been installed.
Of course the hybrid is a bit of a different animal, and I believe the hitch design is a little different. If you post up a photo of a tape measure to your back bumper, I could compare it against mine to see if the clearance would be comparable. I don't believe the hybrid sits any lower, but I don't know that for sure.
2019 Tesla Model 3
Former: 2017 Chrysler Pacifica