[TOS'd]

I have a Thule rack which clears my rear hatch door without needing to move it, but it also can tilt away from the hatch for extra clearance (tested it and it works with bikes on it, although the product advises not to).

Clearance also depends on how your hitch is mounted and how long the horizontal piece of the rack is that inserts into the hitch.

They also have side swinging racks which could swing out the same direction as your rear side swing door, although typically more expensive. (EDIT: re roastpuff's post above while I was typing this one out.)

Don't forget the security component of the rack, if you always plan to go from A to B with no stops and no potential for someone to steal them off your car when you grab food or coffee.

I did a lot of research before selecting mine and have implemented additional security measures, although nothing is 100% secure if they really want to steal your bikes.