There is a company in california that makes/distributes accessories for the tracker/kick, called Calmini (
CALMINI Products Inc. - Suzuki, Nissan, Isuzu Suspension Systems and Lift Kits).
They have a top rack that fits the softtop 2-door models. If you google for reviews or installs, you should be able to find some decent close-up pics of how the rack fits onto the tracker.
Linky to zukiworld roofrack install ...
ZUKIWORLD online
I've been thinking about custom fabbing a roll bar for the rear of the tracker and building it so that there are two attachment points that come up against the soft top -just touching it. These would have a threaded bolt hole. With the rack off, I would just install a short bolt and rubber washer through the soft top. This would prevent leaks and keep the top sealed. These same bolt holes would serve as the attachment points for cross bars that the rack would mount to. The Calmini rack uses a pair of riser bars that bolt into to the body just above the rear stop/turn lamps.
I still haven't worked out how to attach the front cross-bar for the front of the rack. The Calmini rack uses a mounting tab that sits under the soft top and bolts to the body through those two service tabs (under those plastic covers to either side of the dome lamp).
The other option was some kind of rear cargo carier. Lots of shops sell a cargo carrier that mounts to a rear trailer hitch. It should be easy enough to take the rear hitch component and fabricate a steel frame that would mount a large plastic storage bin. These are rugged enough and would hold quite a bit of gear, and be conveniently removable. Box dims are 37" x 21" x 20".

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MarkB.NV
1991 Tracker, 8valve 1.6L, 5 spd, 4x4, 2 door, soft-top, 103,xxx miles, w/ 2 in suspension 2 in body lift, 30x9.5/15 MT tires.