And, I can assure you stow and go minivans can handle two 9 foot 6 inch kayaks inside, hatch closed, 2 people in the front seats, tent and plenty of other camping gear on the floor, and 2 bikes on the rear hatch!!
(This was before we agreed to purchase and trust roof tie downs for the kayaks.) We did find later the roof tie downs hold steady with 2 kayaks even in a strong wind and highway speeds.
And, that allowed for 4 rubbermaid storage bins on the floor with a cooler, and a 4x8 sheet cut into 3 pieces lengthwise to form a platform for sleeping with an inflatable mattress on top.
Reflectix panels covered in cheap black garden weed control fabric cut to just push into window openings give complete privacy and just look like tinted windows. Black shower curtain hung with binder clips behind front seats completes the blackout. Power sliding doors and rear courtesy light switches make it better than a tent and addon front window rain guards with a screen allow fresh air.
When you get there, the 3 platform plywood strips lean sideways to allow easy bin access. A 2300 watt inverter under the passenger seat gives 110v power & runs hours off the battery. Recharges the battery quickly driving with the minivans high output alternator. We've even kept our home lights, refrigerators, and gas furnace blower motor all running during a winter blackout from that setup.
The minivan sleeping option is just there during a long trip without hotel charges and camp setup hassles if raining..and..
You can also use that setup for passenger sleeping while driving, which of course isn't real safe, but what's a better way to go than dying in your sleep?