For simplicity, I use an electric winch and pulley in my shop. In a pinch, I can, and have, hoisted it to the bed and could hoist it from the bed to the rack in the worst case scenario. I have a Cargo Glide bed slider so that pulls out for a stable platform and gives me a couple extra inches to reach the top.
Getting it down is easy?
I figure if I have to change a tire on the road, the bad tire could go in the bed temporarily if there were issues getting it on top such as low canopy, dangerous spot to change tire, bad weather, etc.