For trips I know I am going to take my bike off ride when I get there I use the hitch rack from Kuat.

If I have stop in public ( eat, errands,etc.. )
I have three moving blankets that I leave in the rav4 so I can store two bikes inside big mac style and you can't see that bike are inside the car between the tinted windows and dark blankets. Just looks like pos old suv.