@Mogwai Rooftop tent and small trailer, and about add a roof top tent for the truck. When it's the 4 of us, the first 2 rows have people, the cargo area carries drawers, fridge slide, a box of dry food for the day, and a couple bags for common use items like jackets, chargers, etc. In the trailer, everyone has a box for their clothes and personal items, water, cooker, etc. We did one roof top tent and one ground tent for a while.... But HAVING to unpack the ground tent to clean it well and dry it out is a pain compared to the roof tops. Plus much more comfortable to sleep in the roof top tents and construction is superior. Last time we camped and a huge downpour flooded our ground tent, that was the last straw. It sucks having to buy and haul the big tents but as much as we go, it's worth it. If I know a big storm is going to come up, I just fold up the tents and we can ride it out in the truck.
If you travel light like you say, maybe you can do an inside sleeping system and one good ground tent with comfortable sleeping area (trial and error with that!). I found an air mattress that has a built in secondary pump that keeps the mattress (insta-bed) full all night and has 3 settings. Its not the best thing, but it's smaller than 2 cots and 2 air pads.