Up and Down

For the background of an SF novel, I'm assuming that even with technology approaching Clarke's "indistinguishable from magic" that one of the most awkward portions of a journey through space is the part between planetary surface and orbit. My assumption is that ships which are either very large or only expect to travel between "civilized" worlds will not be atmosphere capable. For "interface" concepts, so far I've got beanstalks, rotary tethers, accelerators (probably magnetic; on the ground, in orbit and maybe even hung from giant airships), dedicated atmospheric craft, and "antigravity." I am aware of a few other concepts - such as launch loops a the like - but consider most of them to be impractical. Neither do I want "transporters." If they have those, they don't need cargo ships.

So, any suggestions for other methods? From basic to "indistinguishable" will be welcome. Also, justifications for "antigravity" would be a help.