That's too bad. Both of my main rides have 20mm maxle forks so front tire removal isn't much of an option.
we all have the same setup. wheels off are possible. I'd pretty without but here's the simplest system:
Rocky Mounts' DriveShaft SD - This is what my friend uses on his Taco.
"The Swiss Army of truck racks. The DriveShaft SD is designed to fit 15mm/20mm thru-axle bikes and easily mounts into your Toyota®, Chevy®, GMC®, and Nissan® bed channels. 9mm quick release and dummy axle included to fit standard 9mm drop outs. Designed with a wide mouth opening to easily load your bike and a T-Bolt that adjusts for a tighter hold; thru-axle cannot be unscrewed. Lock and keys included."
Now when we went to Vermont he used the following setup from Yakima:
these are cross bars that lock and don't require any drilling. Instead of using standard full on bike racks attached to this he used Yakima's Boa system.
This allowed four bikes (fork mounted) level to the box and we had all our gear underneath.
Unlike Rocky Mounts, the Boa system isn't tru-axle compatible so you need the adapters.
EDIT - I did post a pic on this forum somewhere of the setup in Vermont with his truck, I tried to find it so I can link it to this thread but wasn't successful and I didn't save the pic