Sleeping in the vehicle is great I think. Only issue is having to move a bunch of stuff either outside or cram the front seats to the ceiling...I've never had an issue with condensation, just left a few windows open maybe an inch, also just leave the sunroof open a bit, which works fine around here...since it never rains..

One of my buddies only sleeps in his 4runner when we go camping (not backpacking obviously)...everyone else was out in tents getting pounded by rain and hail...he was in the 4runner watching Simpsons episodes on his laptop...it was awesome!
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"The pessimist complains about the wind; the optimist expects it to change; the realist adjusts the sails." -William Arthur Ward
'96 4runner, 3.4L, 5sp, E-locker...
'85 Mini, 2nd owner...add-ons: 31" MTRs, oil & dirt stains...
'00 Echo, 1.5L of FURY!
