Hmm... I hesitate in bringing it up, but the first thought to me is to maybe try a smaller Kayak?
While I'm not a Kayaker, so can't really appreciate the difference, but I've seen (I'm a Scuba Diver) many different configs from shorter, split, even inflatable? so I would have to think along the lines of, how important is it to get out on the water and can a smaller/short one work in lieu of giving it up completely..
Just thinking out loud here as I'm sure you've already explored those, but ???
or a pulley system. Not for top of camper but roof of Cargo??
Thoughts given.. heheh,
Good luck...