Tons of rack options out there. Gobi, Baja, etc. as well as the standards Yakima and Thule. The full length racks are quite pricey ~1500 plus some pretty steep shipping depending on where you live. You don't need a rack to mount most RTTs, they'll mount directly to the factory roof rails (not the factory crossbars, they are a joke) but keep in mind the process of mounting and removing the RTT is not easy. Some of the RTT brands also have rack options that you can look at on their site for ideas.
Yakima is my brand of choice, some prefer Thule, either way I'd say hit up eBay for used bars to save some money and buy the towers new to be sure they are in top condition. I use a yakima load warrior and put a bike rack on either side when using the yakima cross bars. Before I got the yakima bars I used the factory cross rails (still a joke of a part) and just mounted the load warrior to the cross bars and two bike mounts to the load warrior. That cut down on space and was not the most secure option in my opinion, hence my addition of yakima crossbars.
Remember the racks have static and dynamic load ratings. When you add a tent, rack, people, and gear you'll probably exceed published load ratings from the owners manual. That is rarely a problem because the stated limits are usually dynamic, and unless you plan on being on the tent while driving you should be fine.