I have a prius with a 2" hitch. I got this one http://www.amazon.com/Hollywood-Racks-HR1400-Platform-Receiver/dp/B000QJC4AY/ref=sr_1_13?s=sporting-goods&ie=UTF8&qid=1303155721&sr=1-13. I can open the hatch with the bikes loaded (yay!) - I can carry my kids' bikes and my $3000 road bike with ease and sans freak-outs. I've driven on freeways and dirt roads with no problems for even long-trips. I started with a Saris Bones rack, but it just didn't work well for the hatchback - rubbed on my car and too much stress en-route, as I constantly had to check on the bikes.

Most of the time, I only have it set up for 2-bikes (and the 2-bike only model is much cheaper). It folds easily out of the way. It takes me about 2 minutes tops to get the bike loaded. It was WELL worth it. I wanted the Saris Cycle-On or Thelma, but I couldn't justify the price tag and wanted to make sure I could carry bikes of various sizes.