Something like this should work, but it is expensive.
Napier Outdoors Family-Tents sportz SUV Tent https://www.amazon.com/dp/B004G6U3J2/ref=cm_sw_r_apan_i_BQ01HG62MQJV6M6TTCFC?_encoding=UTF8&psc=1
Napier Family-Tents sportz SUV Tent https://www.amazon.com/dp/B004G6U3J2/ref=cm_sw_r_cp_api_glt_fabc_RVR0N0RWCGRQTDZWJXH7?_encoding=UTF8&psc=1
Its a Napier Sportz SUV tent, https://www.amazon.com/Sportz-SUV-Blue-Tent-7-25-Feet/dp/B004G6U3J2?ref_=ast_sto_dp
This might be a more flexible solution, and cheaper too.