Maybe 2 or 3 of these or similar bolted to a couple of timber cross pieces, or sheet of ply? Or perhaps one of those bike rack types constructed from plastic waste pipe and fittings?
My brother uses an acroprop horizontal to hold bike stems attached via bungy cord and something in between to stop them rubbing and he's built a wooden rack that slots into the van base to hold the wheels. That seems to work fine.
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