I have friends (a couple) who take both wheels off their bikes and put them in a specially designed bike bag. It sounds like a hassle but they have the process nailed and it hardly takes longer than just pulling the bike out of an SUV.

I just buy cars that will take my bike in the back with the seats down and the front wheel off the bike. No need for an SUV, a hatchback or small wagon will do. There's plenty of fun sporty and/or economical cars with hatchbacks. My current one is a Mazdaspeed3.