Would a rack like this solve your issue?
There are many other options/versions out there. I believe they are called rat racks? We use hem
Occasional if there is a tonneau cover or cab on the truck. They install into the hitch hold the bikes vertically and if you want access to the bed the bikes come off you pull a pin and the bike hanging part will rotate down so the bed can be accessed.
Regards
Steve
I suffer from fat finger syndrome and a tiny keyboard on an iPhone. So I apologize for the typos and misspellings.