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Every time you need to move the truck, you have to break camp and set up again. I have found it to be easier, cheaper, and much more comfortable to just use a tent and cot's or sleeping pads.
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Yeah, this is why I want something hard sided but lite and low profile.
A Suburban/minivan would be great, but the other 340+ days a year a small pick-up will serve me better.
Considering a suburban, pull all the interior, rhinoline it, stick the seats back in, cut the top so it is detachable... But at that point I am expensive, illegal, or both.
http://www.livinlite.com/camper-overview.php
this seems a great option. Would seem the lower area is accessible and usable all the time, so if I have to "break camp" just toss it all to the middle.
Actually, I know a guy who makes custom trucks for fire departments, SWAT teams, etc. I bet he would have some great ideas. Probably some scrap materials also.