Does this mount at the factory rocker and frame points?

Yes. This bar attaches at the original mounting locations — no drilling or relocation needed. You'll be working with existing hardware points on your frame.

Can I install this without pulling the bumper cover?

In most cases, yes. Access is tight but doable from underneath or by removing the lower valance panel. Pulling the cover gives you more working room if you need it.

What if my existing bar is bent but still bolted in?

Unbolt the damaged one first. If bolt holes are stripped or enlarged, you'll need new fasteners or thread inserts before installing this replacement bar.