Pack it in!!
We did the same sort of trip years ago with 2 small children. As I recall we had the tent poles on the roof, along with jerrycans (never again), and a canoe.
Everything else was in the back, including the tent, but it was one of the first items out and last in on packing up. We found apple boxes ideal to pack not only food in but all our clothes as well. We had sleeping bags and air beds pumped up by hand. It means the back is packed to the roof but we somehow managed to get set-up time down to about 30mins, and no matter what system we use set-up time is still about 30mins.
Bushie's daughter was only 6 months old and he had 180 disposable nappies on his roof rack 
Numpty's Missus
Numpty
Thomas - 1955 Series 1 107" Truck Cab
Leon - 1957 Series 1 88" Soft Top
Lewis - 1963 Series 11A ex Mil Gunbuggy
Teddy5 - 2001 Ex Telstra Big Cab Td5
Betsy - 1963 Series 11A ex Mil GS
REMLR No 143
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