I was worried about not be able to open the hatch, so I got this hitch mounted rack that "slides out" by Let's Go Aero few years ago.
With the standard hitch rack configuration, it sits quite low and I was worried about scraping on bumps. So I purchased separate raised sliding base from the same company.
I also installed Air Lift 1000 on rear suspension.
Here are several images from the web.
And here's the difference between standard vs raised "pipe". I have both pipes and I use raised one for Sienna to get more clearance.