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I have a Yakima swing away bike rack on my FJ. I am not sure which model it is; however, it holds 4 bikes and the spare tire being in the way has not been an issue. I, too will have a dog soon and the rack swings well away from the door so I can easily open the rear door and let the dog out. I can't help with the kayak mounting issue, but the bike rack has been great.
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