I have a 2020 Boondocks. I have not really used the Yakima rails for anything, but am now exploring it. I may want to take them off or reposition them for the winter. I use a cover, and rainwater builds up. I figured if I moved the rails or removed them, I would not have that problem. Usually I can find some good YouTube videos, but nobody seems to have done this.
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If you just want to remove the rack itself, to make a cover fit better, and you have the key to the locks (I don't, I wish I did!) then you should be able to unlock the mounts, open the cover, and see two places to fit an allen wrench. One of them loosens the crossbar strap, one loosens the mount itself. I'm not familiar with these particular Yakima mounts, but I've had multiple Yakima products on my car, that's how the current mounts work. So assuming these are similar, if you have the lock key and the proper size allen wrench, you should be able to take the whole rack off. Not something I'd want to do frequently, but for winter storage, probably not a terrible job.