I have a 93 two door XJ, and a couple 76 Wagoneer's.
Last November my husband and I took the XJ on a FSJ trip to AZ. I took my rear bench seat out and built a wood support for the top of what was the rear seat.
It attached to the metal bulkhead that the rear seat used to sit on. Then I made three wood "L" shaped supports that fit around my console. We pushed the front seats all the way forward.
I have a piece of foam that fit in one of my Waggys, that I thought would fit in the back of my XJ? I had to cut a hole around the where the console is but it really still did not fit to well.
We are not 6FT tall, but I gotta tell you neither one of us slept very well in the back. It was only a couple nights, but still.
OH!
And we have a tiny dog, and when she wanted to sleep with us, it was uncomfortable.
The other thing about my XJ was if one of us needed to get up in the middle of the night, it was a struggle to get out of the back of the XJ. If it is just me and my puppy, it would be more than comfortable. But not for two, and a dog.
The Wagoneer is so much better for camping inside the truck duty.
We took the rear seat out of one of the Waggys as well.
Also having a four door is so much better if camping together.
All this being said, I think we will be looking at an Off Road Trailer his year?
That way we can have a base camp, and go out on trails without our bedroom.