I just went through all the options and the best solution for me was a hidden hitch with a 3 bike platform style rack. I sm still waiting for the hitch to arrive so I can install it.
I thought of the hitch but I'm afraid of warranty issues. The owner's manual says do not tow. If you have a hitch wouldn't they say any driveline issues were caused by towing? I would like to tow a motorcycle trailer, never more than 1200 lbs or so even with two bikes.