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Not sure of the wire colors on the rubicon but they should be easy to sort out with a test light . I wired my 55 watt reverse light through a relay. The hot side of the relay coil is powered from the running light circuit and the ground is powered from the reverse indicator switch at the engine. This switch completes a ground to the dash reverse indicator light. With this setup, my reverse light comes on whenever the lights are on the bike is in reverse.
 
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