The Napier Sports 84000 SUV tent will do exactly what you need. The main floor is 10x10 with a small covered "porch" area straight out the rear, and a large 7 x 6 ft screen room attached to the left side. The screen room can be removed to allow for narrow camp spots.
The transition between the vehicle and the tent offers a zip up screen and or a "wall" to separate the sleeping area from the floor area. When your truck is moved away, this wall provides a level of security in that the tent is not wide open.
I was impressed with the quality of the material as well as the stitching but I'd reseal the seams and treat with camp dry or some other water repellent before use. Set up takes a bit of time by yourself, but once you've done it a few times, you develop a system. The most aggravating thing for me was the straps that hold the tent to the vehicle.
Check You Tube for a review. I know there used to be one there with a complete walk thru.
FWIW, I used a piece of "pool" noodle to cover the entire edge of my camper shell upper hatch as it rested right up against the roof of the tent.
https://us.napieroutdoors.com/store/catalogue/details/1/2/product_id:4/