JBP's set up is really all you really need. You can also get some more significant straps like the sort used to tie down for motos. But if you want a rack system, Thule is good, so is 1Up. You can also get a sliding tray and mount the rack to that. I've seen a bunch of DIY stuff as well, with mixed results.
FYI the reason most people (including me) deal with removing wheels is because that way there is more room for a bed above the bikes.
You can get wall-mounted stands that would work and some mobile bike shops do that for working on bikes inside the van. You'd probably need a supplemental tie-down or two to keep it from flopping around. I personally wouldn't want to travel with my bike like that for any significant distance, particularly since for me I'd be clamping an extended dropper post and I wouldn't want all that pressure on the bushings.