When I had my tires mounted, I went to the one place in town that I knew about which has a machine that locks down on the hub and doesn't touch the rim at all. It then has the arm that comes over and expands the sidewall enough to stretch over the rim lip. So there can be a few surface scratches on the rim lip to get the tire started, but nothing like the clamps will do...
So such a machine exists, but I do not remember the specific model of the machine...
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