Inside a garage, minicell is probably overkill - an open cell, cheap foam will probably conform better and save you money. And a couple of inches of faom is probably plenty for most boats. Yes it will compress and conform, but that's what you want it to do, right?
The more area on the foam, the better, so a large chunk of foam right under the bulkheads ought to do the trick.
Touring Kayak Paddles
The Kayak Wing
Rescue / Throw Bags
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