I think this is the biggest issue people have. Some would say just leave it on the roof year round. We also have the issue of height- I'm 5'6", wife is 5'2", and it's on a Ford Expedition.
I've had to take ours off because the wife needed the truck and had to go into a parking garage with limited clearance. We have a Tepui Autana 3-person.
What I end up doing is:
1. Open the tent and empty the insides; bedding, mattress, etc.
2. Remove the tent cover
3. Remove rain fly (optional, it's like 5lbs with the bars)
This is much, much lighter. However, in 10-15 years when I'm in my 50s, I don't know how well I'll be able to manage putting it on/off.
I've thought about building a 2"x4" ramp system for the tent. Basically it would look like the letter N w/o the right upright.
Now that I think about it, I wonder if a drywall lift would work. Weight the base (or long outriggers), and it should be capable. Hmmm...
We eventually plan on getting a Tacoma, so a bed rack might be easier for on/off. Hopefully it'd be low enough to clear the garage door so I can use a ceiling hoist. Garage has 10'3" ceiling, but a 7' door. Go figure.