Don't know about a rack. I've used a surfboard cover that had a strap - strap goes over your head so it sits on the opposite shoulder to the board. Left elbow holds the board close. Fins 1st with bulk of board behind rider. I did this in my younger days whilst surfing around Bali. No problem at off-highway speeds. I think I was sober at the time...
Fun can I ride in the kayak when in tow? BTW i did see some inventive guys who had done just that behind DS bikes to get their kayaks to a remote lake. Was pretty cool.
About 20 years ago a bloke I work with had a bike trailer behind his bike. He used his BMW 1100GS to tow his trails bike around.
No side rack but...run 5-8 kite-surfboard on back of zegas...rock solid at 55mph. The board is at the perfect angle with the apparent wind to help it at higher speeds. Rides like it not even there. Any panniers should work. Over 6 ft?....yep built a side rack...you will come up with something....oh the looks I get and thumbs up...going to the beach.