Metal roof racks will impact antennas, both electrically and physically. How much depends on the antenna, placement and construction of both the antenna and the roof rack. However, with some vehicles, such as aluminum skinned Ford F-150's, steel roof racks often help, increasing the ground plane for the antenna. However, real world.....unless you are trying to get the perfect signal out of your radio/antenna/vehicle combination, most people will not notice the impact of a roof rack. For UHF and GMRS, I would not worry about it too much. As for RF exposure, I try to meet the FCC guidance, keeping several feet between UHF antennas and people inside the vehicle.
For that truck/SUV, putting an antenna near the back of that roof rack, or on the roof rack, above the rear light would be the most useful and least impacted by the roof rack. This also places the antenna at a high point, extending range. But, depending on length, may be an issue in garages and decked parking lots.