A friend of mine has a RAV4 with a roof rack (Yakima highroller). We needed a step stool to put the bikes up there (safely), although a tall person will do (her brother in law, over 6 feet tall) did not have trouble removing or putting the bikes on the rack.

I liked that particular Yakima rack so much, I splurged and got one for my Mazda 3. It does not touch the bike frame and it is easy to put/remove the bike, provided height is not an issue! (else, carry a step ladder)