Most Rate-Splitting Multiple Access (RSMA) implementations rely on successive interference cancellation (SIC) at the receiver, whose performance is inherently limited by error propagation during common-stream decoding. This paper addresses this issue by developing a SIC-free RSMA receiver based on joint demapping (JD), which directly evaluates bit vectors over a composite constellation. Using a two-user Multiple-Input Single-Output (MISO) prototype, we conduct over-the-air measurements to systematically compare SIC and JD-based receivers. The results show that the proposed SIC-free receiver provides stronger reliability and better practicality over a wider operating range, with all observations being consistent with theoretical expectations.