I have carried canoes with roof racks on several different cars and trucks. My experiences are similar to yours - minimal effect on handling and roughly 10% hit on gas mileage. I do try to put the canoe as far to the rear as practical in order to minimize the "scoop" area in front of the windshield.
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06 Canyon: The vacuum gauge plus wheel covers helped increase summer 2015 mileage to 38.5 MPG, while summer 2016 mileage was 38.6 MPG without the wheel covers. Drove 33,021 miles 2016-2018 at 35.00 MPG.
22 Maverick: Summer 2022 burned 62.74 gallons in 3145.1 miles for 50.1 MPG. Winter 2023-2024 - 2416.7 miles, 58.66 gallons for 41 MPG.
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