I use a hitch mounted rack. They are the best because, if it's a good one, nothing ever has to touch the car and it takes as long as hooking up a trailer to install.
Now, the one I have cost about $30 from Harbor Freight so it is definitely not the best and between my dad and I, we have altered or rebuilt just about every part of it. But know that it is fixed and customized for my bike, it works great.
Here's how it came out of the factory:
How it looks now:
If you look close, you can see that I still run a strap across the rear window for security after the bottom pin that hold the rack upright failed awhile back and landed the bike partially in the dirt. Fortunately, it failed in a driveway and didn't damage the bike too much.