Hairy_Apple, yep it can be done, but for me at least it would be very hard with 2 people. A tent would be a must. On the trip I described, I even brought along a pop up, but never used it. Just didn't want to mess with it. We were always out of camp by 7-7:30 am each day.
With only one in...
I do with my 40 just what you are wanting to do. For me it would not work with 2 people in the truck but just me it works fine.
In May of this year me and 3 other trucks did a 9 day round trip on the Old Immigrant Trail across Nv into Utah, Idaho & back thru Nv on the old Pony Express Trail...