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I have to drive long distances to get to decent camping so I wanted to keep mine low. I Used Yakima mounts and cross bars to mount it over the bed and it takes seconds to install/remove.
The only issue is accessing the bed with the tent on. I have yet to take it camping but I added a bed slider so that issue is solved. Next time should be a lot easier. It is also a great way to strap a lot of stuff down in the bed. I took mine through Baja and it worked like a charm. One day I'll get a trailer but this gets the job done and it is nice being self contained.
Been thinking about doing something like this, with another truck though. Came across this camper with a built in tent. Pretty sweet set up.