You're asking a question that my wife and I have been struggling with and just recently made a major change. Until recently, we brought our bikes on a bike rack attached to the rear bumper. We had a nice water proof cover for the bikes and we had the bikes locked for protection. The problem was that it became a chore to attach the rack and bikes for each trip. When we're at home, we ride our bikes a lot for exercise and put lots of miles on the bikes. However when RVing, we only use the bikes for peddling around the camp ground and easy riding bike paths. So, we just recently bought two inexpensive folding bikes and I really like how easy my job has gotten. It takes about 3 seconds to fold and another 3 seconds to lift and put in my storage compartment. I guess it really depends on what kind of riding you do. For us this was a great solution.
Andy & Carole
2014 Winnebago Itasca Navion iQ 24V
2015 Ford C-Max toad / Blue Ox Alpha / RVi Brake