Recent camp setup using a Napier SUV/minivan hatch tent. It works pretty well and is very easy to set up. After reviewing this site for sleeping ideas, we went with an 8" memory foam mattress. We used an electric turkey carving knife to cut out for the wheel wells, fuel filler bump-out and centre console. We then cut the top third of the mattress off so we could stow it when travelling. We sewed mattress covers out of sheets with integral handles so we could move them around easier. Then with the seats slid forward and the Rubbermaid Action-Packers in place, the top section set tightly in place over the centre console. We then used a full size queen fitted sheet to cover everything.
The set-up works good for a few days, but I would want more storage for longer trips.
Thanks for looking!