I have the standard Yakima rack with the Control Towers separate from the rack mounts on the car. I really like this solution since what stays on the car is fairly small and has covers that finish it nicely.
Putting on or removing the rack is a 30 second process.
In reading about the Yakima Whispbar solution that Tesla has started to carry, it appears it is not this easy. It looks like the rack and mounts are all one and that once connected to the car the only way to remove it is to unscrew/uninstall it.
While my solution may not be as sleek or quiet, I prefer its convenience over the Whispbar.