Yeah, you went to a store where they only sold high-end expensive stuff, so of course the options were all expensive. There's a LOT more bike racks on the market than the 2 most expensive makers in the world, Yakima and Thule. The one I have isn't nearly as fancy, but it's simple, cheap, and works fine.
Here's the rack I have. It's $72.17 today on Amazon.
I have a hitch on my 2018 and use a hitch rack for three bikes.
I’ve used it for the last year, and I’ve been really impressed with it. Sure, it’s not a $300 rack, but this thing is solid. Tips down to allow trunk access. I have the 3 bike rack, and holds them nice and firm.
Allen Sports 3-Bike Hitch Racks for 1 1/4 in. and 2 in. Hitch https://www.amazon.com/dp/B00TRTSRVE/ref=cm_sw_r_cp_api_glc_fabc_mE89FbBAM2HFZ?_encoding=UTF8&psc=1
No class 2 for the Soul as the towing capacity is too low.
https://www.amazon.com/Allen-Sports-3-Bike-2-Inch-Receiver/dp/B00TRTSRVE
Looks like this should work for you. Fits in a Class 1 and includes an adapter for a Class 2 should you ever need it.
I use an Allen 3 bike rack in the hitch. https://www.amazon.com/Allen-Sports-3-Bike-2-Inch-Receiver/dp/B00TRTSRVE/ref=sr_1_3?ie=UTF8&qid=1494327816&sr=8-3&keywords=allen+3-bike+rack