You may want to check out the racks at:
They have a swing away feature that will allow you to fully open your rear doors. They are a little pricey for me, so I use a Thule 2 bike receiver rack. It allows me to open the rear doors a little while the bikes are on. We have adopted a process where as I pack the rear of the van I make sure anything that we need enroute to our destination is within easy reach of the back door. Then when we set up for the night, if I need further access, I just remove the bikes and the rack.
If we are going to be in one place for a few days I just leave the bikes and the rack off of the coach. Depending on the situation, I may lock the bikes to the picnic table, most times I don't bother. This works for us.
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