Thule and Yak are both awesome. I've owned both. Thule is a little better fit on the car, but in 8 years, my Yak never left a mark on my 4Runner (roof pillar type, not factory rack). The Yak is a little easier to remove the bike trays, but the Thule Echelon is an incredible design when it comes to mounting and removing bikes.

RockyMounts are ok. They aren't the best at anything but price. They are solid, but not as easy to use as something like the Echelon.

I have two Echelons and three RockyMounts in case I'm carrying more bikes.