I have the Thule Rapidfit bars that clamp around the rails.
Found them very secure and prefer them to the official Toyota option as they will fit near enough any vehicle with raised roof rails
If you go for this option, you can choose to get either the normal square bars to go with them or the "Aero" bars. There are different lengths of the bars - make sure you get the right length as the shortest ones they do are too short. I don't know the length needed, simply measure the car width and then add on some extra for fitting if there is no car sizing guide