I have an old 4runner and run a cot in the back when I'm alone. Just has a pad and bag covered with canvas and tarp to keep clean during travel. Gun goes ontop of it to keep scope from being dicked up during travel. Plenty of room for icebox and cook box along side of it and I put a food box (Rubbermaid with wheels) under the foot of cot. Anything else that will fit(lantern,extra tarp,rain gear) goes under the head of the cot. Passenger seat holds hunting pack and binos. Pass floor usually has boots or shoes and other things I need to reach while driving. Behind seats is camp stove, tarps, straps, rope, jacket, etc.
Front bumper has a rack in the receiver for a fuel can, trash bag and water jug(things I don't want to leak or smell while driving). Waters for washing hands, dishes and teeth brushing. Also when setup I put stove on the rack for cooking.
The icebox and cook box go under the truck when sleeping. I use the icebox as a step to get in and out as well.
When traveling I can stop and drop the tailgate, slide the icebox and food box onto the tailgate and make a lunch quickly.
When I'm with the ol lady I put a wood platform in the back with 3 wheeled Rubbermaids underneath, 2 with clothes and one with food. Bedding is carpet, a mattress topper, and each of us get our own pad. Sleeping bags with a canvas and cheap blue tarp over them. The canvas and tarp is for warmth as well as for keeping the bedding clean and dust free while traveling. Also while traveling we keep our hunting packs on the head of the bed just behind the headrests of the seats for easy access. Guns go between them or along side depending on if I put them in from the back or front or slide them through the side windows.
Bedding folds over so Icebox and cook box can go on the foot of the bed while traveling. Again making a tailgate lunch stop quick and easy.
The worst thing about it is headroom when getting in and out and dressing on cold mornings. Other than that, set up and tear down is as easy as putting away the cook station, loading the boxes back in and strapping the gear back on the rack.