There was a post on here awhile ago! I can’t find the image, but this is the product they used to do exactly what you drew: Tailgate Shade Awning Tent for Car Travel Small to Mid Size SUV Waterproof 3000MM Yellow https://www.amazon.com/dp/B08B5YS4B4/ref=cm_sw_r_cp_api_glt_fabc_A9HQB1Z97KE49RAS90M7
I do a good bit of overlanding, we have a sleeping platform with storage underneath, queen air mattress, solar with battery bank, 10 gallon fuel tank on the roof, gas stove. Love camping in the car, it's just a big metal tent! I've used that style of window screens you linked and I think they're great, as far as hatch tents go I'm in the middle of testing a pretty affordable one with great success so far. I like to use my stuff for a year before reviewing it but so far I'd say it's 4/5. Definitely check out the overlanding thread as car camping tends to be described as a pull in spot with electricity, picnic table and spot for your tent. The term gets thrown around both ways but it's whatever, as long as you're getting out and enjoying life who cares. Here's the one I'm testing :
https://www.amazon.com/Hasika-Tailgate-Awning-Travel-Waterproof/dp/B08B5YS4B4
The 4th gen has the little hump, you'll have to leverage that with either a sleeping platform or a traditional air mattress. I have the newest model which is relatively flat like the newer crosstreks and it does great but I'll be installing a foldable platform over the next few weeks for some extra storage. A alternative would be a foam roll some quilts/thick blankets to even out the hump and your in business. I'm 5-09' and have plenty of sleeping room,it's a great metal tent especially if you pair it with something like this:
https://www.amazon.com/Hasika-Tailgate-Awning-Travel-Waterproof/dp/B08B5YS4B4
from amazon! it’s great so far https://www.amazon.com/dp/B08B5YS4B4?ref=ppx_pop_mob_ap_share
I’m using this Hasika Tailgate Shade Awning Tent for Car Travel Small to Mid Size SUV Waterproof 3000MM Yellow https://www.amazon.com/dp/B08B5YS4B4/ref=cm_sw_r_cp_api_glc_fabc_m6W-FbDR3802M
We did not :(. We hiked pretty far in to camp. But I just bought a tent for the car (link below). I think I'll line the interior with our hiking sleeping pads instead of an inflatable mattress to save some money. I'll report back after I use it.
https://smile.amazon.com/dp/B08B5YS4B4?psc=1&ref=ppx_yo2ov_dt_b_product_details
I’m 5’ 7, wife is 5’ 4. She fit perfectly. I had to figure out some way to fill that gap between the front seat and back seat. With the back seats folded down, there is a slight angle, but not bad.
We were comfortable.
For air flow we purchased a sunroof screen and door nets that would allow these windows to be open and not worry about bugs.
This is on my list next:
Or