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After the Tesla ranger installed my OEM hitch, which includes a wiring harness, he had to connect his laptop to the ODB port to activate Trailer Mode option (toggle screen). Unsure how you’d get this option activated for 3rd party hitch.
Since you did not purchase the Tesla Tow Hitch option, when you mount your bike rack with bikes the car will not turn on Tow Mode and disable the rear ultrasonic sensors.
I doubt Tesla will activate Tow Mode for you for free. I think you are just going to have to live with the alerts when in Reverse with bikes on the bike rack.