We too have a CR-V and we can put our 2 bikes inside with the front wheels removed though. That is mostly used when we are on the road with our motorhome in tow. We do need to have the back seats down. So no room for any one else. Not even our dogs.

If we are just using the CR-V we got an easier option and it was to purchase a Yakita hitch rack. Perfect for our carbon road bikes or our cyclocross. Not cheap, but it is very good, well built, comes with a lock. And putting them on or off the rack is so easy. So this maybe another option for those who are space limited.
https://www.yakima.com/ca/holdup .

This is our 2nd CRV. The first one we loved but someone in a BMW car rear-ended us while we were stopped in rush hour traffic. he was looking at his phone (texting) and never saw the car stopped in front of him. So our vehicule was a total loss and we needed another with towing capability for our motorhome. We tried various models and it was one of the only ones to have our bikes standing up without issues (front wheel removed of course).