I spend around 15-20 nights a year in the cruiser, 10 of them my wife and dog are along. We use a Megamat, its comfortable and you don't feel the other person moving around too much. I reduced our drawer system from the height that matched the rear seats being folded down (around 11"?) to 7.5" this last summer. We have just over 6" tall drawers, which is less functional compared to how they were previously, but still work really well for what we put in them.
To make this work the rear seats came out and I built a 60/40 split platform that goes in depending on which seats we need and how many people are going to be on the trip. It made the vehicle a LOT more comfortable to sleep in to have the extra headroom for sitting up. With the platform in the mattress will fit all the way to the tailgate with no issues.
I have a set of window screens that I made for the windows, which go on the outside. I have also seen people use gutter guard and cut it out and then roll the windows up on it to serve as a vent for sleeping.
The last addition is that unlike others who have a permanently affixed awning, I don't like having stuff on my roof. I have a full summer of use on our Slumberjack Roadhouse Tarp, and its been awesome. It goes off the back of the vehicle where we do 90% of our cooking, getting in and out, and find that we have clear space in the areas we camp.
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Roadhouse Tarp: its nice because you can detach it from the vehicle if needed, or put it off the rear, the side, the front...string it up between two vehicles, etc.
Slumberjack Roadhouse Tarp offers a cheaper alternative to maximize shade coverage and protection from the outdoor elements while camping
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