I have a 561 and I’ve got the same problem with a 20mm RS domain, but more severe. There is no way it will fit.
The problem is the thule 20mm adapter has a larger outer diameter than a 20mm axle (larger than a 20mm shimano anyway)
Is your Lyrik 20mm?
I purchased a hurricane fork-up thinking it would solve it, but it has exactly the same problem: It has a larger outer diameter than a 20mm axle and therefore catches on the lip/flange on the fork.
http://hurricanecomponents.com/
I’ve been trying to get some assistance from hurricane for the last couple of days without much luck, so I’ll probably give up on it and return it.
I’m going to remove some metal from the thule adapter and use that instead. The 561 itself seems great. I’ve used 3 at once (all QR) without any problems. Seems very secure.