More detail on my design...
The Jeep already has a hole in the hardtop, so that can be used to provide access to the sleeping area above with no modifications to the factory hardtop.
Access is provided by a replacement for the Freedom panels - a piece seals against the factory hardtop and the camper top base seals (and attaches) to it. The camper top base is form-fitted to the factory hardtop and attaches in the front to the Freedom panel interface and in the back to the liftgate hinges, so it installs with no modifications to the factory hardtop. The Freedom panel interface has a hole in it for access to the sleeping area from the Jeep's cabin.
Optionally, an additional hole can be cut in the factory hardtop and the camper top base to allow sleeping area access from the rear of the Jeep. This unit could be installed without those holes being cut and later as the Jeep owner outfits the interior of the Jeep he/she could decide to add these holes or not, depending on their configuration and needs.
There's no question this could be built, and while it would have to sell for more than a typical hard-shell RTT, it should be able to be sold for about half of the other camper conversion options mentioned.
In the image above, for clarity the Freedom panel replacement is shown off the Jeep and also in place on the Jeep.