Odyssey and roof rack

Hi, I'm planning to buy an Odyssey soon. We have the factory roof rack on our 4Runner.

I was originally looking into a J-cup attachment for the kayak in hopes to carry both a paddleboard and a SUP, but I don't think that's going to happen. So I think I'm to the point where I'll just carry 1 thing at a time and loading the boat upside down directly on the roof rack seems simple enough.

So a couple questions - will the rack pads that you can buy just about anywhere be ok for short trips to and from the water?

Also, do most if you with a kayak of this size and a similar vehicle load from the back or from the sides? I guess the trick is to get 1 half up on some carpet and then push the rest up and on the rack?

Thanks!