Agreed.. I have a trunk rack on my car and it's been there about 2 months now.. I use it often enough (I take the kids to the park to ride - it's not really safe where we are) that it's not worth taking off constantly.
I'm a wee bit afraid to see what the paint looks like under it.




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It was cheaper to go that route than to just get the hitch receiver put on, never mind buying a hitch rack on top of that.
I think you can protect your car's paint somewhat, but it will get scratched no matter what I'll bet. Except for long trips, my rack stays on my car all the time. I don't drive a whole lot anyway, but it's just easier to leave it on. It probably hurts the gas mileage a bit, and after 4 years I've noticed that the straps are getting a little dry/brittle probably from being in the sun a whole lot. If I had to do it over again, I'd probably take the rack off and only put it on when I need it (but that's kind of a pain for me). 