I used the sturdiest wardrobe rail and brackets I found screwed to the joists of the garage roof (one bracket per joist) about a foot away from the wall. Then big S-hooks on that, bikes have a loop of 1” Velcro strap put around the tyre then get hung up like coats. Works for every size and tyre width of bike, doesn’t scratch rims and you can either have them straight out or leaning off towards the wall. Can slide bikes along to make space if needed, and extra hooks for hanging other bits and bobs on too.
Wide MTB bars scupper spacing (as with any of these) so I turn them on bikes that don’t get used so much.