Pads, not matter how soft or compliant, will eventually scuff the paint due to dust and road grime that gets trapped between the pads a surface. Putting pieces of clear protective stick-on vinyl on the car in the areas that the pads contact will prevent that from happening. Appropriate material is sold at auto stores as chip guard and under other names.

That said, I go along with others in recommending going with a hitch. I know guys with hitches on Jaguars and Porches...