The Uptons drove around the world in a CJ5! Loren is probably 6'3" and Patty is about 5'10". They where able to sleep INSIDE the vehicle.
My jeep expedition advise....
-Treat it like backpacking. Build your load out around set container sizes. Then you only get to take what fits in the containers.
-Try and keep all the gear below the top of the tub. If you still need more space ONLY very light stuff like a bedroll, a pillow, etc can go above the tub line.
-If people can do world class expeditions on motorcycles, man up, and take less stuff. The less stuff the lighter the vehicle, the lighter the vehicle the happier you will be.
-Don't hang stuff off the back of the vehicle. Its not worth the change in vehicle dynamics.
-Don't use a roof rack. Honestly, its the worst place to put weight and add air resistance.
-Try and store or install heavy items ahead of the rear axle.
-Keep overall weight down, its WAY to easy to overload a Jeep.
-Accept the fact that most SWB jeeps are NOT well suited to taking more than two living things. ( two people OR one person and a dog OR one adult and a kid ) ( the exception being the JKU vehicle, I think it makes a good platform for 3 living things )
-Don't get carried away on spare parts
-Don't get carried away on tools
-Don't get carried away on recovery gear