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Why not mount a couple of J-racks on the side of your motor home. Most kayaks will be to long to mount sideways across the back.
I do not know the rules about how wide a vehicle can be and maybe your RV is already at the limit. If you can get away with the extra foot or so, figure out a way to mount these racks so they can be removed when not in use. Slap your yak in the rack and your should be good to go.
Bob
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