I have a system that works great for us.
We have a F150 CC.
We carry 2- 12 foot kayaks on racks and folding bikes in the bed.
We have a Thule roof rack that mounts about center of the rear door. ( Thule has a option for you to buy just one rack rather than a pair. ) We have a Yakima single bar rack that mounts about 2 feet from the rear of the truck. Both are easily removed. I take mine off when not in use. I have a toolbox and could not find rear racks that did not interfere with the toolbox. These racks are not cheap but make a rock solid rack system. I made a roller out of pvc pipe covered with foam on the rear rack so we can roll the kayaks up and down to load.
I can add a picture and look up the name of the place I found them if you are interested.