Super! My thought is that since steel is so durable and easy to work with that I would strongly consider drilling and sealing (there are probably water tight grommets or something equally clever). Attaching to the beams is a big advantage too, especially if your rack had hauling capabilities. Even if you removed the rack, it would not be difficult to plug/seal the holes easily.
On my Winnebago View (big fiberglass cap), I put VHB on the cleaned and scuffed fiberglass and its mighty permanent (10 years now!). 8 brackets with a 2" x 3" surface for each 165w panel.
There isn't a good way to locate beams under the roof cap so thats one strike against drilling. Also, the fiberglass greatly weakened when cut or drilled and is very susceptible to splintering and fraying on the edges created by drilling and cutting (strikes 2 and 3).