I was loading my Radar 115 onto my Subaru Outback with the help of a Rhino Rack T-Loader, which helped a ton. You need a tow hitch though. Just picked up a Hobie Lynx which is a super light peddle yak (maybe paddle board hybrid type of boat?) that is really easy to lift up even on the higher Outback roof rack without any assistance. Like Jim said, there's also the inflatable hobie yaks but I can't speak about their weight as I've never owned one nor been on one.
Whatever you end up with- I hope it works out well for you. Back problems are the worst!
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