My experience with roof rack crossbars alone, when driving on a long flat bridge on a calm day with cruise control at 65mph:
* Yakima round bars or Thule rectangular bars with nothing (other cars): -8% or so
* Yakima aero bars (CoreBar) with nothing on them (Bolt): too small a difference to be noticeable on the kW use/regen display, though there is presumably some added drag
Obviously, rack accessories and cargo will add more aerodynamic drag compared to just the empty rack. For all of the cars/racks, I remove(d) the rack when not carrying things on it (even the aero bar setup on the Bolt, since the foam pads that I put the boat on are harder to remove and install on the bars than removing the rack from the car).
If you do not want to remove the rack when not carrying cargo, consider the following:
a. Choose an aero bar setup. For Yakima, the less expensive aero bar (CoreBar) does not cost any more than the round bar if you are buying new. Yakima also has a more expensive fancy aero bar (JetStream); Thule aero bars are the more expensive fancy kind. The Chevrolet OEM option is Thule; if there is a Chevrolet accessory sale, it may be less expensive than usual that way.
b. Choose a bicycle carrier accessory with the smallest frontal area.