Rig sleeping

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here is my thing.
First, storage boxes. 6 of them.
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Then a matrass on top of it. It has 4 pieces so I can stow it the way I like it. And use half if I go on my own.
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To make the bed long enough
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And a folding table for cooking and such.
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That is it.
 
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If its just me I throw an inflatable sleeping pad on top of the boxes, with two people I have a used tempurpedic mattress that I cut into three sections for easy transport that fit nicely over the whole area (after all the gear comes out). Screens in the side windows are nice on hot nights, and for winter camping I burn an organic candle all night on the shelf which keeps the ambient temperature not freezing, then run a buddy heater for a short time in the morning to knock the chill off. "Elk Hunter" flannel sleeping bag year round that is good to -30, but useless for anything else besides truck camping due to its large size.
 
We used to sleep in our XJ. If you slid the seats forward, there was an extra 14" of room, save the 7" or so in the center where the console was. I added a roof rack for the sole purpose of being able to throw everything from the back up onto the rack so it was off the ground with a tarp secured over it. There was around 6' in the back this way, and enough room between the wheel wells for two adults to sleep reasonably comfortably.

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I haven't found as much room in our FJ, nor so the seats fold flat, but the rooftop tent is easier to setup anyway.