I ride with a buddy who has the "1UPUSA" hitch rack. It's the best one I've seen. All aluminum and high-quality fasteners, very strong and solid. The arms grab the top of the tires, nothing else touches the bikes. Believe the 2 bike version is around $500. Expensive, but worth the money if you use a rack often.
Only big disadvantage I see for this setup is the need to constantly carry the trailer hitch. Plus the 1UPUSA is fairly heavy (45 lbs?) so he just leaves that on as well. The combo adds at least 75 lbs to the very rear of the vehicle, plus reduces ground clearance which is critical on steep driveways common here.
Inside the vehicle is always best if you have the room. SUV's and wagons like the Forester should have plenty of room for adult bikes inside plus enough gear for a weekend trip for two. I regularly put mine 58cm bike in my Golf, plenty of room for it. I've had two bikes in there, just using a blanket to cover the bottom bike.