If I understand what you want, that's asking a lot from any design. I looked and looked, and couldn't find anything that would suit all my needs, so I wound up building my own, and making compromises. One of them was having the ability to open the rear doors while the bike was tied down for travel. I gave in on that requirement.
How heavy is your bike?
My KLR650 dual sport is about 450lbs. This is over the limit of all of the 'plug into the receiver types' I found. I looked at options, and extending it rearward for door access only makes the wobble and diving board effect that much worse.
I built my own, but in order to open only the passenger side rear door, I have to remove the safety bolts and lower the bike (hydraulically) at least 50%. Otherwise, that door will only open 4-5 inches.
http://www.sportsmobileforum.com/for...ier-16500.html
Sorry for the poor quality pictures, they were taken near the end of the build a couple days before a big trip. The fit and finish is better now.
I built it with the upright bar slightly offset to the driver's side, so I can at least open the one door with no bike, or with the bike lowered. it works with my interior layout, because my driver's side rear cargo door has a cabinet in the way, so loss of that opening is not a big deal for me.