Although not a canoe, hope kayak info helps some?
We have used inflatable kayaks in years past. If you can't "stow" a kayak, then definitely try the inflatable kayaks. A few years back we used single person inflatables that offered room for a child or pet in front (first pic). They weighed about 30 lbs each and fit easily in our minivan while towing our little 3000lb Casita
We currently have a two person that we bought from Costco online. It seats two with room for a child in the middle and even a pet! I don't have access to the info so I can't offer that at this point (here's a link if it helps
Otherwise, we have two smaller single person 'sit in' kayaks and the inflatable dual seat kayak mentioned above with room for a third person.
One thing to know... when you go "inflatable" you lose speed, so if you're ok with a slow experience, the inflatable will work