I would think you could use a ratchet strap to connect the roof rack to the canoe. The starting position for the canoe would be leaned against the open tailgate. You can then climb into the bed and use the ratchet strap to winch the canoe up to the roof rack while you guide it to slide on the rack into position.Any tricks or tips on carrying a canoe? specifically getting it on and off the roof without trashing any paint or windows. i am planning on the Victory 4X4 rack, that is similar to the prinsu. my FJ was easy from the back but now there's a truck bed in the way. lol.
I made this up just now so I’m not sure if it would work in practice but it sounds cool on paper.