Don't laugh. This is a very common method of using a trailer lighting harness.
Now, if you are looking for a professional install, here is my suggestion that does not involve drilling:
There is an air vent located underneath bumper cover on the drivers side (see inset image on lower right, it looks like 2 flaps). The vent is there to relieve the cabin of excess pressure (ie driving with the windows open, closing the door, etc). This is very close to where the harness plugs into. When you go to install your harness, you should be able to see this vent from the inside. Simply feed the harness through the vent, then reach underneath the bumper and grab the free end. You can then route it along the hitch and somehow secure it.
BTW, Nissan's hitch and trailer wiring for the Rogue gives you a slick mount for the 4 flat connector to the left of the hitch receiver. If you are handy, you could fab your own bracket that would do the same.