Yakima has an excellent web site, you just plug in your vehicle and it will make recommendations on the towers/bars for you.

I've had roof racks for my bikes for 20+ years, all Yakima. I started with the (I think it's called )Raptor, and now have King Cobra mounts for my mountain bikes.
I prefer the ones where you leave the front wheel on. I have been on too many trips where someone has left a wheel in their garage or at the trailhead.

I've trained myself to throw my garage door clicker under the seat when the bikes are on top.