It is doable with a bit of immagination, have done it a few times before kids.
We have spent three weeks sleeping in the back of our D1 at the time, while doing a QLD/SA desert trip.
This was done without removing the rear seats.
We had a set of drawers in the back, so rolled the rear seats foward and had a removable extension for the drawers we put up each night, with the front seats also tilted foward, we were able to inflate a queen size airbed ontop.
Very comfy, still had plenty of room for big esky and other gear below the set up.
Also repeated a similar set up in our Rangie on a Tasmania trip.
Something to be aware of when sleeping in the car: when hot it gets very stuffy and when cold the windows get soaked in condensation on the inside (this is very inconvenient when you want to make an early start).
We got around this by cutting up an old security door/screen to the width of the rear windows so you are able to enable air flow, while keeping the mozzies and other unwanteds out.


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see third pic I think)




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