Fit a towbar with a Thule cycle carrier mounted onto the tow ball.
Excellent carrier that you are able to "hinge" down when access is required to the boot. It can be hinged with the cycles either on or off the carrier.
Check out the Thule website.
Not the cheapest but well made.
I agree that the Thule is an excellent system, but the additional weight of Towbar + Rack + Bikex2 + Tagalong trailer (for the dog. Don't ask!) + additional equipment has used up much of our Tio RL's paltry payload!