The closest thing I know of is this:
Adventure Rack, JK 4-Door - Adventure Racks - Roof Racks
Not designed to be fully removable but it does flip back to allow easy access to fold the top and it is pretty minimal. And, aside from the four mounting hard points, you may be able to remove the main part of the rack relatively easily.
I've got their expedition rack on mine and I've been happy with it but I've got a hard top and the rack is static mounted due to some wire harness running through it and air compressor and tanks hard mounted in the basket.