Will this work with an aftermarket rear bumper cover or lip?

This reinforcement bar mounts at the structural level behind the bumper fascia. Aftermarket covers and lips sit on top of the stock bumper — the bar installs the same way either way.

Do I need to remove the factory bumper to install this?

Yes. The reinforcement bar mounts to the underlying frame points that sit behind the bumper fascia. You'll need to unbolt the rear bumper to access the mounting locations.

What hardware comes with this?

Only the reinforcement bar is included. Check your vehicle's service manual or contact a dealer for the correct fastener specs and torque values for your model year.