I camped in a 4runner this weekend. Not mine, but a V6 SR5.

It was -10 F outside, so I left it running the whole time. I thought it would take too long to warm up if I turned it off but then wanted some heat later. I also didn't want to open a window for ventilation because of the cold, but keeping the windows closed with no ventilation would have made them frosty by morning from condensation.

I left the windows up and the heat on, and the temperature was comfortable. The engine temp gauge stayed in the middle, despite the extreme cold and low heat output from idling. I didn't smell any exhaust, and there was enough wind to blow it away. When the catalytic converters are warm the exhaust shouldn't be too harmful/smelly. The LEV II standard is 4.2 grams of CO per mile (compared to over 440g CO2 per mile for combustion of gasoline at 20mpg). Carbon monoxide is dangerous even in very small concentrations, so a battery powered CO detector would be a good idea if you plan to sleep with the engine running. Actually, it wouldn't be a bad idea to permanently mount one in the vehicle somewhere.

The range indicator only dropped about 5 miles in a few hours of idling, and the gas gauge barely moved. But when I started driving around the range decreased much more than the amount I was driving, and the gas gauge caught up. I'm aware that the range indicator is just an estimate, but I see it as a way of reading the gas gauge with more resolution than the needle gauge. The most reasonable estimate for idling fuel consumption I've read on here is about 0.5gal per hour.

Sleeping in the front seat was rather uncomfortable, and I wasn't able to sleep well. I didn't put the seat in "relaxation mode" or whatever they call it when you slide the front seat all the way forward, remove the headrest, and fold the seatback so it's level with the rear seat. I didn't have camping stuff otherwise I would have slept in the back with the rear seats flat.

I've always thought it's silly that people prefer the V8 for its smoothness, but the vibration from the V6 while I was trying to sleep was kind of annoying. But I do like the slightly longer range that the V6 has on a tank of gas.

We should have nice weather here this week, with lows only around freezing, so I might go camp in the back of mine one night.

Ok, who's ready for a nap now!

I have a 1996 4Runner and I go on trail riding trips with my Honda 250 Enduro that are several hours away so I camp for a night or two. I bought a Deluxe Folding Cot from LL Bean that fits in the back of the truck and rests on the rear seat folded up. I keep it partly folded while driving so the front seats can be back. At night, I slide the front seats forward and unfold the cot. I sleep fully stretched out and it is very comfortable. I bought rain gutter screens which I cut to fit over and into my back seat windows for ventilation. You can find the gutter screens in white or brown at Lowe's or HD. You will see how the channel will fit over the top of the window. It works well and keeps the bugs out.

I’m loving the idea of camping in a 4Runner. I can’t tow a both camper and a boat. Thinking of buying a cooking/dining shelter as the base camp setup and trying some boon-docking next summer/fall

Just came back from a camping trip. I used a twin air mattress and doubled up on the sleeping bags. Worked great!

Do you have brand/models of the cots you are using by chance? Thanks!

i've been camping out in Montauk during moon tides from June-September. The actual camp sites out in nearby Hither Hills go fast, but I'm only there to fish so I stick to the lower parking lot at the light house. I also drop down the 2-seat back seat and leave the single one up. Have plenty of room for a Pelican Cooler and all my fishing stuff. Granted, I'm more on the "modest" side (wetsuit works well for this out in this place) so I can stretch out almost fully in the back with the back seat down. this is pretty no-frills "camping"—cheap beer, PB&J, good sleeping bag but no sleeping pad, cot, or air mattress. Those are good, cheap improvements though.

i'm also liking the idea of putting in something so I can keep the windows open at night. Will have to look more into that.

I use simple screens with magnets on windows and moon roof

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Camping overnight in my "new" 4R is the reason I bought it, planning on putting on window rain covers so that I can open windows even if it rains, then placing some screen with pockets for magnets to make sure no bugs, skeeters get in, got a camping "self inflating" air mattress (2 inches) and a nice bag, cooler with some beer and some food and all set, further down the road will do a serious build but for now I am ok

I basically live in mine and travel all summer all over the country mountain biking.
I have a rooftop homemade shower tank and window screens. A 5" memory foam mattress and 4 pillows.
Works great anywhere you can park safely for the night and did this in the USA and Canada for the last 2 years

What do you do for window screens? I made some mesh and cardboard inserts for the top of the windows but it would be nice to roll them down all the way.

I use these and they work great

Amazon.com: Uarter Universal Car Rear Side Window Baby Kid Pet Breathable Sun Shade Mesh Backseat (2 Pcs) Fits Most Cars/SUVs: Baby

We often go to the countryside with our family, it is normal to sleep in the car, but of course it is better to choose comfort for all family members. We have Outbound 8-Person 3-Season Lightweight Dome Tent in which there is more space than in the house. The frame is so strong that we are not afraid of any weather conditions. Please note, you may also like it.

I use the gutter guards from Lowes. Used electric tape on the sharp corners and to give a little bit of wiggle room. I can't roll down all the way, but if it rains, I can leave them on protected with my rain guards.

I don't mess with trying the rear window anymore.

Good bug screens for rear windows:
Amazon.com: Car Window Shade Protection for Baby. Back Seat See Through Stretchy Mesh Sock Style Sun Shades. They Totally Cover The Windows For Full Protection. Sunshade Fits All Sedan Cars. 2-Pck (Medium, Black) : Automotive

Basics for 4Runner camping:
1) Remove rear seat bottoms for more room.
2) Get several, sturdy plastic storage containers for food and gear. These, along with cooler, can be quickly stacked on one side of the rear cargo area for sleeping on the opposite side. If you have two sleeping inside the truck, containers can be stacked on roof, even if you have a Thule cargo carrier on the roof; store containers on one side of the rooftop. Good, solid containers and 45 qt. cooler may also be simply stacked outside the truck when not in bear country. Other gear like cloths duffle bags may be stored on front seats. You should be able to set up the back for sleeping in ten minutes.
3) A ground tent is an alternative but sleeping inside the 4Runner is best. No wet tent in morning, no wind snapping the tent all night, metal walls to keep out grizzlies etc. Think three times about all the hassle involved with rooftop tents.
4) Thule or Yakima rooftop cargo carriers can hold a lot of large gear: folding chairs, shovel, vehicle recovery traction tracks, air compressor, backpacking gear and four-person base camp tent among other items.