I'd get a nice Thule hitch rack. They really make your life enjoyable in that you don't have to worry about anything like you do with roof racks, make loading your bike super easy and they hold up well. There are two different types, one where you have to manually have to make some adjustments to the rack arm yourself and a more "deluxe" version where you don't have to worry about that. You just pull a lever and the rack goes up and locks in. I got the latter, so I don't have a ton of knowledge about the former.

As far as the hitch, many bike shops that sell Thule racks either have a body shop guy that will come into their shop and put on the hitches or have a relationship with someone who can easily get it done for you. I'd ask about that, because it will eliminate one step for you and since they want to sell you the rack, the LBS is usually very competitive on getting the hitch installed.