I lie the kayak upside down and run one strap over each of the front and rear racks. Then I tie the rear handle to the rear rack. You just have to be careful because you can still vibrate the boat forward if you have the straps in the wrong spot.
I drive a truck which can fit three kayaks in the box though so I have only done this on the highway when I have a fourth or fifth kayak, or on resource roads and quick highway trips for a shuttle run.
I haven't lost anything on the highway yet.
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