As a former long term tow bar bike rack user….
Pendle wheel support racks are sturdy as you like but they are heavy, can be awkward to fit and ime they have to come off or have bits folded away (that involve undoing bolts) to access the boot.
The Pendle hang on racks are just as sturdy, easier to put on and off (eg boot access) but you have to be a touch creative with lighting board fitment.
Thule do an express scissor action rack that is good for occasional use but imo is a bit lightweight for regular heavy use.
I haven’t tried the slide/tilt Thule/Atera options. I nearly did then I bought some Atera roof carriers and aero bars.
With four bikes to carry I can get better spacing and easy boot access as well as improved rearward visibility. Yes it makes the car feel sluggish and is crap on mpg but it’s a dull diesel estate anyway and it also doesn’t leave a belting great rack hanging off the back in the car park, which is handy in some locations. Car park height restrictions are clearly an issue though!