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Based on my 30+ years of experience messing around with bike racks on my cars, the ONLY way to go is to install a trailer hitch receiver and then buy one of the many options that hold the bike upright by the wheels (as opposed to hanging by the top tube). The ONLY way. My reason is based on what's best for the bike. There's several options, many have their favorites. Look at a few: Saris, Tule, Yakima at least and pick the one you like best that fits your price range. Some don't work with fenders if that's ever a concern (We have bikes w/ and w/o fenders so we have to have one that works with both). FWIW
As for security,, you then get a locking hitch pin to secure the rack to the hitch receiver and then secure the bikes to the rack using whatever method you prefer, depending on how hard core you need to be.
In the garage, I just can't imagine an garage that isn't at least as secure as a house. My house, for example, has many back windows which means it would be easier to break into than my garage. How does one break into a garage door anyway? Chain saw? If I were concerned at all (which I'm not), it wouldn't be rocket science: just secure your bike to something immovable in the garage with a break-proof chain or U-lock or such.
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