Yes the
SportRack A30404TW200 Towing Hitch Bike Rack is exactly what you are describing for carrying bikes and towing a popup camper on your 2005 Nissan Frontier. It's made specifically for carrying bikes and towing a trailer simultaneously with a 2 inch trailer hitch. The SportRack A30404TW200 tow capable hitch mount bike rack has a great price too (as all of the Sport Rack products do). One thing you need to be aware of is that the bike rack has a 2000 lb max towing capacity so you'll want to be sure to find out how much your tent trailer weighs.