For anyone with a similar problem, a simple and relatively inexpensive solution is the Thule Outrigger. All one needs besides the Outrigger are a couple of Thule square bars and a set of kayak cradles to fit (either a Glide and Set or something similar, even just a couple of foam blocks).
Depending on one's ability to reach the kayak's bow and stern as it rests on the vehicle, one might also need a small step ladder or stool.
The following link goes to Thule's page for the Outrigger -- scroll down to the customer reviews to get a good idea how it works:
The Connyak BBS