Thanks for the kind compliments! The major advantage with my capped Baja vs. Foresters and Outback is the increased cargo capacity since I think the Baja has an additional six inches in length compared to the corresponding Outbacks. I also like having a solid barrier between my gear (and respective odors!) and the cabin. The unfortunate part of this is that there is only a small pass through between the bed and cabin, which may limit the size of your items you can pack.
Regarding my sleeping arrangements, in the past, I usually open the pass through so I can stick my legs in the cabin, with the rest of my body in the capped truck bed. It works great and I find it much better than sleeping in a ground tent. You can probably fit two people this way, but I haven't tested that out.
With the South America trip, I purchased a rooftop tent, a Tepui Ayer. It is the most cost effective and lightest tents I found. I was a little concerned with the load capacity of my ARE truck cap. I reached out to them and they informed that the cap has a load capacity of 125 lbs while moving and up to 800 lbs when the car is parked. I installed a Vantech 50" ladder rack, which required some drilling on the cap. I test fitted the RTT and it fits perfectly, and the cap seems to not notice the additional load.
I don't have any other planned modifications for the car, although I originally wanted to get a JDM transmission with a low range for the trip. But I figured I probably will not need that, since most of my driving will be on tarmac and dirt roads. Maybe in the future, especially if I'm interested in doing some sand driving.
A trip to the Baja in my Baja is definitely in my future plans. Keep us all in the loop. I love my Baja and there hasn't been a day I regretted buying it, although I do wish it had a turbo. But I'm glad it doesn't for my South America trip, just because of the added complexity and increase cost of higher grade fuel.