I doubt you will need the support, but have no details on design you will be using, or the weight requirement needed over the cab
I have a rack bar I use on my Ranger that clamps in door jamb on both sides, no holes, rubber contacts with painted surfaces, no issues in many years of use.
It came with the truck when I bought it used.
It is Yakima brand but Rhino also sells the same type of mount cheaper
Link to see what they are here: 2001 ford ranger Roof Rack | etrailer.com