Hi Sully,
Just got my Ranger and am looking for a rack system for our kayaks. I found these listed on Home Depot for a terrific price (check them out please). They also make an extension for the front that adds a couple of feet. That looks good for me as our kayaks are 11.5 ft.
I'm interested in them but am trying to find something that will work with a bed cover. This company makes a style of rack that attaches to a plate that mounts on the top of each bed side. That looks like the system that wouldn't interfere with a cover.
I had one on my S10--I don't know if they had a mid-size specific one, but it was WAAAAAY too tall for the cab of a midsize. Got it off of craigslist so I don't know if they make different sizes or if it's one size-fits all.
For my ranger, I bought a generic ladder rack from discountramps.com and modified the heck out of it. Spent too many hours figuring it out, but I could give you some insight if it's something you'd be into.