Thank you for sharing your great packing ideas Jess.
I'm at the same, even worse when talking 'bout space, when you considering I use a 2dr Tracker Soft top as a "Expo" vehicle...
I do camping with wife and a daughter too... and a dog (fox terrier).
I didn't want to loose the quick top down feature, so I had to keep out the idea of a basket roof rack.
My needs are similar like yours, I do a lot of surf fishing and kayak fishing, so I chose to custom a "surf rack", I can mount 2 kayaks, fishing rods on top or more stuff when I don't take kayaks.
I don't know if at some way it helps you.
My full loaded scenario:
Kayak, fishing rods and camping stuff on top, BBQ on hitch, Cooler on customized cooler rack.
My camping scenario:
ARB awning, fishing rods, chairs, roll table, tent, camping stuff on top, Cooler on rack, no cargo hitch.
I attached some Quick Clamps on the sides of the "Surf Rack" on a foldable way and used them as fishing rod holders, so, I can use them down to carry stuff when I don't need them, I can carry 4 (2 pieces) 13' surf fishing rods on top.
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The cooler rack, with additional 4 "quick" fishing rod holders to jumping between fishing spots (ATV mode).
Cheers from Cabo.