OK, I'm going to take back the Yakima as an idea. Rereading the OP's needs and then reading this article, that is not going to fit the need.

https://www.outdoorgearlab.com/revie...akima-hangover

Although looking at images I don't see how it would damage frame paint, unless prj71 is talking auto paint? I'm never going to buy such racks, so I'm not really interested in looking further if it scratches paint or not though.

With a woohoo 2, bikes going from small to large, I still believe that a trailer as a good idea. BUT, the OP knows the trails in the OP's area best and what would work.