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This video shows my sleep setup in my 2011 Toyota RAV4. The same general idea should work for any SUV, though you might need to build some kind of platform out of plywood.
If you're interested in living or camping in a truck, check out my buddy Brian's channel, Colorado Backcountry Adventures: / @offgridbackcountryadv...
Be sure to check out my blog at suvrving.com.
If you're into vandwelling, this video might also help you come up with some sleeping ideas for your vehicle.