I've used Yakima and Thule. Yakima in my eyes is much better than Thule in terms of feet and crossbars but they seem to be on a level playing field with the actual racks (kayak rack, bike rack etc.)
I just sold my car and bought a truck so I have a Yakima system (q towers, crossbars, and fairing) if your interested. They also have the lock cores in each of the feet keyed the same.