This is NOT true. I had a step in the hitch receiver for years too with no errors or setting off the rear PDC sensors
NOW mind you, I tapped into the reverse light wires for the LED light wires instead of making a 7 pin round connector and plugging into the trailer harness connector (as that then would tell the trailer module to disengage the reverse lights, rear PDC and brake lights, so making it worse than what I'm trying to fix)

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I swear, my cars are like a girlfriend.
Sometimes its a rough ride, sometimes its smooth motorin'.
Sometimes she doesnt like how i treat her and sometimes i dont like how she behaves.
BUT at the end of the day, she loves it when I am inside her.

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'91 850i
'05 X5 4.4i
'09 Clubman S