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The Livin Lite "Quicksilver" Truck Camper is along those lines.
I just bought this camper From a gentleman that hadn't used it. I took it out once and love it but My life has taken a turn and I won't be able to use...
www.tacomaworld.com
2015 New Livinlite Quicksilver Camo Tent Camper TC1 Truck Camper for sale in Wisconsin, WI by Prosser RV with price $3,925. Leave a message to dealer for latest information.
www.recreationalvehiclemarket.com
The problem, generally, is that even with the pop-out sleeping arrangements, a truck bed leaves little room for other camper amenities once you have to pack everything in there folded.