They are not cheap, but I love the Steady Racks I have in my garage. I can store 6 bikes in relative comfort and takes up very little space. Pivot to either side as I need to get to the bikes or the storage above them. I like the model they have for bikes with fenders for my road bikes, the standard model for everything else. They get pretty close to the wall, just have to account for the pedals a little.
