I have the sweet roll system which works really well for me. I use a fleece blanket on the back of my Rav 4 (older model and thus higher than the newer) and on the roof rack between the rollers to protect the boat.
I lean the bow on the fleece blanket then push up until it hits the rollers, then roll up. In reverse for taking it off.
I have a tarp and or blanket on the ground for the stern.
It is slightly awkward sometimes but it works.