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I recommend to get a towing hitch and a small flatbed trailer.
Very convenient for boards, dirt bikes, etc.
And no ugly stuff on the roof.
ES350 has plenty of power to tow about a ton.
Get a set of soft racks. I've hauled around a couple of longboards at a time with them. If you're riding a short board, you could always recline the passenger seat and stick it through to the back as well.
Thanks for the soft rack idea. As for the bozo headed responses, remember men surf and children make snide comments on chat rooms. My custom built 9'8" board would be the crowning jewel for my ES350. BTW I'm 57.