Liquid or foam hardening agent?

the hitch itself flexes at higher speeds and causes the back end of the bike to wobble.
It's a squared hollow metal bracket that I'm thinking I could fill

ok,, without a picture,, I am guessing at the other 990 words [a picture is worth a 1000 words..]
but you mention it is a square tube hitch, and it flexes .. but you want to fill it..

that leads me to think the hitch doesn't flex per se.. but it has some loose fitting tolerance... and that allows the attachment to "rattle" or wobble,, as such .

Thule makes receiver square tube hitch attachments that "bolt" in.. instead of the normal standard pin and hair clip ...

when you bolt the attachment to the receiver it becomes quite stiff..

so if you can get a nut inside the attachment, and a bolt thru the receiver, you might find it stiffens it up quite a bit.
or , you might be able to thread the attachment , but I doubt that tube is over 0.250" ,,, which isn't really adequate.
you can make up a large "weld nut" from a flat bar that is sort of press fit into the attachment..
or you could just slip a weld nut in and weld it..
muffler shops can put a spot of weld on pretty quick and inexpensive if you need welding..

some reason I can link to pics ... but try this link
it shows a threaded pin,, but a bolt works just as well..
https://www.etrailer.com/static/images/pics/8/5/853-5917_1000.jpg

curt has something similar
http://ep1.pinkbike.org/p4pb7591933/p4pb7591933.jpg

http://www.pinkbike.com/news/Tech-Tuesday-Removing-Bike-Rack-Rattle-2012.html

Kill the klunk: While there are a few great bike racks available, not many incorporate any type of anti-rattle system into their design. Having your bike rack, especially one that's fully loaded, shake and rattle as you drive has to be one of the more annoying things in life. Not only does it make your vehicle sound as if it's about to fall apart, it also seems to get worse and worse over time. There are a few different ways to eliminate that clatter, but we're fans if the threaded insert design that the Curt unit shown here employs.
The Curt anti-rattle kit includes an insert that fits inside the rack bar, a threaded hitch pin (bolt) and a safety cotter pin. When the insert is installed into the rack bar, threading the hitch pin into place sucks the rack up against the inside wall of the receiver.

more..
drill a oversize 3/8 hole in the bottom of the receiver an inch or two forward (toward the front of your truck) of the locking pin. weld an external nut over that hole.. and and tighten a 3/8 bolt to put pressure on the rack

Or just use a nail and pound it into one of the corners
 
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I just did a diy trailer hitch bike rack. Took the rattle out and added stability by using cable and Home Depot turnbuckle. Tension to suit.
 
This is a trailer hitch for a 3rd wheel trailer for my motorcycle.
It's not a trailer to carry a bicycle.
I can't seem to post a pic, says my max gb or some s=€% is exceeded.
 
This is a trailer hitch for a 3rd wheel trailer for my motorcycle.
It's not a trailer to carry a bicycle.

Was just an example to remove rattle, if in fact rattle is the issue. Is the metal actually bending that it needs stiffening? Kind of hard to believe.
 
This is a trailer hitch for a 3rd wheel trailer for my motorcycle.
It's not a trailer to carry a bicycle.
I can't seem to post a pic, says my max gb or some s=€% is exceeded.


Upload to imgur. Use direct link with image tags to make it show here.
 
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