While I can understand the access issue, my dodge has an 8 foot bed and a hard shell with the only access being through the tailgate area, and I don't find it much of an issue.
I'm thinking something like this could help?
Once of the main points of this design for me is that I want to be able to camp INSIDE the camper without having to move lots of stuff around. I can understand other people leaning, or coming from a different direction.....
I tend to just pack the items that need to come in and out often close to the door.....
I'm basically looking for a vehicle that is about 3/4 the size of my Dodge truck but provides the same function. I really like having a hard sided area to sleep ( for 2 ) without the need to unpack, move, or convert anything. I think a 'bed' could be constructed in the back of a 4-door JK just above the wheel tubs that extended forward to the back of the rear seats. For a little extra room I think the front seats could be flipped forward and a small shelf extended or flipped forward. A foam mattress could be kept in place with all the bedding items secured with a few small elastic straps.
What I would REALLY like to see is a system where you could have more of a 'camper' inside a hard shell top....small sink, stove, etc. I think that might be pressing the JK for storage space? I tend to revert back to just having something VERY simple......just a place to sleep inside with very minimal setup time.