I have the behind-the-ball-plate-mounted version, but this should do it

I've got this a Thule Euroclassic G5 909.

Has an optional kit to convert to a four bike carrier. Very pricey (and quite heavy) but I'm well chuffed with mine. Makes loading the car a breeze, particularly post ride when you're cold and the bikes are filthy, 5 seconds and you're done.

Like you I didn't want to hang the bikes, this one straps the wheels and then clamps the top tube. Integrated anti-tamper locks on the clamps and the rack locks to the towbar. Fully integrated lighting board and comes with a 13 pin lead european stylee (they do an adaptor to convert the 13 pin to standard UK 7 pin sockets, I just had a 13 pin socket fitted with the towbar so the reversing lights etc. on the board also work).