I hear good things about Thule Big Mouth and Criterium which hold the bikes by the frame rather than the wheels. The side arm holds the bike by the tires. I don't use any of them. I put my bike in the back of my wagon.

However, if I had an SUV I would get a hitch rack.

This is expensive, but from what I have read it is the best hitch rack on the market.

http://www.1upusa.com/1upusarackhome.htm