The top two contenders seem to be Cycleracks - https://cycleracks.com/ProductDetail...3/Default.aspx
And Manracks - Welcome to ManRacks
Cycleracks are a bit more expensive, notorious for ill-fitting (hammer not included), but offer more versatility.
Manracks are neater and smaller (although made robustly), and some versions will do most of what you require of them.
There are so many variations of both Cycleracks and Manracks, that you need to work out what you want a rack to do – and then choose the model and manufacturer.
The Yamaha OEM model is – well – Yamaha OEM ……….