We did the Simpson back in 2012 and there was 5 of us in the car. We used the Darche Safari Ext Tent which is similar to the tent u quoted. We all slept on self inflating mattresses and this worked well and setup/packup was quick and easy.... I think the touring tent would be much quicker to pack and setup than your RTT and the annexe area underneath.....
I guess u can always do a test to see which one is quicker....
rob


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