Hi guys,
I am new to this site, although I have been following the FJ for some time now. I am also a dedicated Toyota enthusiast, having owned 3 previous.
As far as car camping, here's an idea to alleviate the shortage of space for sleeping inside the vehicle. There is an Italian company called Maggiolina who makes rooftop car tents. Before you blow this off, read some of the features: Hard fiberglass casing, weather-tight; aerodynamic shape available or with integrated roof rack; has high-strength fabric sidewalls with integrated zip-up doors and windows (with mesh); activated by cranking a coupling inside the casing; pops up in less than a minute; has a 3-inch thick foam mattress big enough for up to 4 people, comes with fitted sheets; includes an alloy ladder for climbing in and out; very good quality throughout, built to last; weighs as little as 120 lbs; secures onto standard roof rack. A neighbor has one and he says it is great.
Check it out at loftyshelters.com. You can get them in the $1500 range or used, but you can store all your bedding inside and free up additional room inside the vehicle.