My particular need at the moment is an aluminum ladder that collapses down to around 22'. I think a light weight one will work too and I'm currently leaning toward this
Erickson Brand rack. It looks like it should be simple to install and remove, only weighs around 50 lbs, and should store in a pretty compact manner too.
2015 Ram 1500
2022 Grand Design Imagine XLS 22RBE