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I use to use a thule rack on my avalon. Put it on in the fall, take it off 6 months later and it was still as tight and secure as it was when i put it on. They do recommend only putting it on when you need it, but it sucks to do in the winter cause you have to wash your car so that you don't trap dirt between the rubber pads and the car. That said, with the price of gas now, I'd pull it off when i don't need it.
I don't have a rack on my matrix yet, and apparently the fit is better with some cars than others, though the with thule, you buy a specific fit kit for your car.
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