That's how my wife drives hers around. We assume it reduces range, but we assume it's just a very slight amount.
Years ago several of us took our Roadsters on a ~200 mile trip. We all got very nearly the same efficiency...except the one with a bike on the back, which got 5% worse.
Later I ran some tests with a small cargo box on the hitch. That seemed to have maybe a 3% impact.
With no bike or box, and on a bigger and less efficient vehicle, I suspect the difference will not be something you could reliably measure.
Note that speed matters - if you are just driving around town, the difference will be truly insignificant. But if you drive at high speeds on the highway for long distances, it will be larger.