A kayak is going to be better than most inflatables, and you don’t have to worry about it popping. Foam pads that go under a kayak will protect your car and allow you to transport it.
Something like this works well.
Your Camry is a four door? That would improve the securement, as you could put two 'belly belt' cam straps, one through each pair of doors. Also, the suggestion below to secure the foam somehow is a good one - if your cam straps get any slack at all, the wind from a passing vehicle can lift the boats far enough that the foam can slip right out and get lost (ask me how I know this LOL).
We used a system kind of like this to transport two 12' long rec boats from Ohio up to the Boundary waters: ROOF RACK SYSTEM
But the way we did it was more home-made. We used 2x4's, cut to be wide enough for the two kayaks to go on upside down. We put the foam blocks between the car roof and the 2x4, and then ran the strap through the open door, over the end of the 2x, back through the open doors to the other side, and over that 2x - so you get a loop through the door openings, hung up on the end of the 2x4 crossbar on each side. Crank those cam straps down tight, and you'll have a solid pair of cross bars to set your kayaks on. I have a friend that did the same layout with pieces of steel black pipe.
Then, put a 'belly belt' cam strap across the two boats to the cross bar (one for each crossbar, same loop method as used for the crossbars). Tie on a line from both boats to the front corners of the car (most cars have a place to tie off under the front and/or back bumpers), and put another line from the back of the boats to the back corners of the car.
This method, if done right, can be secure enough to haul good sized loads. Periodically check the tightness of your cam straps while traveling.
Good luck.