Specifics will be hard to come by because car shapes differ. The increased weight will have a negative affect, but putting things on the roof more greatly increases the drag on the car, and thus lowers efficiency while cruising.
The drag area of a car, or anything for that matter, is the drag coefficient multiplied by the frontal area of the car. Increasing the frontal area is going to have an equal opportunity increase on drag no matter the car. The increase to the drag coefficient of a slippery car, like most hybrids, from a roof rack is going to have greater impact than on something like a truck.
A roof rack and rails will increase the drag and frontal area of a car alone. In terms keeping the impact on fuel economy done, get the shortest rails for the job. A roof rack dam/spoiler will help, but perhaps not enough to justify the cost. It might be worth it for the noise reduction. For the cargo box, I'd go with a long narrow one over the shorter square one. Less frontal area is the main reason, though it is easier to design for low drag coefficient with a longer item.
Have you looked into a combo bike and cargo rack for the hitch? There are several types out there. I would also suggest checking a Niro specific forum. The car has been out for nearly a year or so in Europe. Owners there might provide better insight into what racks have the least impact on fuel economy.
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