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First off, what sort of vehicle are you driving that drags the rear bumper?
The longer the rear overhang the more likely it is you will be dragging.
We had one conventional bus that always would drag the driver side tow hook when it made a particular right hand turn. It wore the tow hook down so much it was basically useless. The tow hook was replaced by a skid made out of an old spring leaf. It would still hit the pavement but instead of hooking into the pavement, the skid would slide on the pavement.
I have seen casters and other things used but the skid was the best in practice. The skid would never get hung up the way a caster could possibly get hung up.
Be aware however, regardless of what you put under there, you still have the possiblity of high centtering the drive axle.
If you go in and out of curb cuts and driveways at an angle you will reduce the likelihood of ever getting yourself high centered. You may also reduce the number of times you drag bottom.
Yea, the ground clearance is pretty high, but when you pull out of a shopping center that has a steep descent, followed by road that then inclines, that bumper is going to drag !