That hammock setup looks awesome! So does the fold out bed one that Mudnguts linked.
I've camped out of my Jeep on a few trips (longest was 4 weeks) and being just me and my mrs it was pretty good. I got a 3 man tent and a couple of fold out stretcher beds to go inside. Those beds are a major improvement to sleeping on the ground and they're not too expensive and don't take up too much space either because they fold nice and flat.
Chuck in your fishing gear, frypan, water can, esky / fridge, radio, a couple of camping chairs and one of those $20 propane gas cookers with the aerosol cans and away you go!
It all fitted inside the Jeep easily and we had a blast. Hope that helps.
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