I also keep my rack on all the time as I don't want the hassle of taking it on and off every time I want a quick bike ride. There's also the issue of storage and potential damage moving it around all the time.
I think the VW T5 bike is the best looking rack out there by far. It follows the lines of the van nicely and imho even enhances the "adventure" look of the van. I can't see why they didn't just subtly alter it for the T6. After all, most of the changes to the T6 itself seem pretty subtle. Instead, they seem to have completely redesigned it and come up with something that, to me, looks like a cross between the cheap Fiamma racks and a bit of scaffolding attached to the back.
Maybe the passage of time soften my view (as it often does with new cars) but I doubt it.
Mark