What size coolers you dealing with? I keep my 120 coho cooler in the crew cab (2014f150). And a smaller dry cooler. I was sorta in the same dilemma. Or I use one for a step up into the back, truck is lifted some. And just leave it out with bolts thru the lid in bear country.Its all a trade off.
I pee alot and didn't want to deal w a roof top tent.
A cot is probably the most versatile and I ran that way for alot of years. But it seemed I was always digging for stuff, or setting stuff outside in the weather.
So I went to drawers, worked way better for 2 people and much easier access to stuff. I like to have coffee, Ramen jet boil etc rite on hand.
But it really limits the use of your truck bed and mine are tall enough I can open a cooler if its up in there.
So I ripped them out for a hunt this year and just went open bed. And hated not having quick access to my snacky snacks.
So I'm back to drawers, with a sleep platform on top.
But I haven't really solved cooler access. I need some kind of wheeled tray to slide the cooler out on like the cool kid overlanders have the fridges on.
Cot in the bed is nice.
For wall tent trips... I've also made a loose 2 pc. plywood platform I slide over a couple 2 x 6s , so I can have all the wall tent poles and stove pipes , stakes etc, chains saw s, Jack , axe, what not in the lower level. Then having a second flat level surface to slide coolers , bins or what not is awesome.
Another thing I found with the huge crew cab on the ford, is at 5-10" I JUST fit totally stretched out if I max out the diagonal space in the cab. Push driver's seat forward. Did this a couple nights on a shed trip when crazy wind was keeping me awake in the seek redcliff ....jerking and yanking stovepipe and wondering if it was gunna lift off...not good sleep for me!