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That is a dynamic load of 150#, not static.Yes, you'll want an aftermarket roof rack. The stock roof rack is good for a couple hundred pounds (I think the actual rating is closer to 150lbs). So that's the weight of your tent right there. Put any people in the tent and you're doubling or tripling the stock roof rack's capacity. It's really just meant for skis/bikes or some light luggage.
There are a handful of really great and well engineered roof racks available for $$$, but it's really the cross bars that you need to carry more weight. With a traditional rain gutter, you can just get cheap Yakima or Thule cross bars. I don't know if it's quite that easy with a 200, but I'm sure someone else can chime in.