doing the bike hitch on a board will work. As for securing the rear wheels, it depends on what size SUV you got.

My wife has a Mazda Tribute (aka ford escape). I just have to drop the seat down. This gives me the clearance,and I don't have a hungry seat tube eating headliner. As for securing the tires, I have had a thought of using some rope. As I am folding the back seat down, I stretch it across. Put the bikes in, and then lace the rope through the wheels and tie off.

As for a hitch rack, you will never see me using one.... personal preference that I'd rather just replace bumper when/if I ever get rearended.