I'm not sure. Adding weight to the bike and not the sidecar is a big no-no, which is why you'll never see a rider and passenger on a bike with an empty sidecar, so my inclination is to put the hitch either behind the sidecar or on the sidecar frame in between the bike and sidecar.
You're right; obviously it's been done in the past. There aren't tons of images on the internet, but I'm seeing it done all three ways (behind bike, behind sidecar and in between).