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As a family with a kayak and paddle boards I have also tried hard to find the easiest solution for transporting our watercraft. Unfortunately, we are not aware of a solution that exists where you can transport a kayak and a paddle board with one rack. The Thule Compass is designed to carry SUPs laying flat, not vertically, so as soon as you bring a kayak into the mix it negates the ability to carry a SUP. The system we have come up with is the Thule SUP Taxi XT for our paddle boards and a Thule Hull-a-Port for the kayak. We are able to get both of these on our roof rack as the Hull-a-Port leans back a little bit but not too much to impede the use of the SUP taxi. When we load up the boats we definitely have to put the SUPs on first, then the kayak, otherwise the kayak is in the way of getting the SUPs strapped down.
Hope this helps!
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