Why not build a "top" and a "bottom? The bottom piece would start at the top of the frame rails, and extend to (and follow) the curvature from the end of the cab back to the tail gate. The top piece would fit over the bottom piece and, once inside, could be extended up; perhaps on actuators. Think of a box (with no top), fitting beneath a box (with no bottom). This would allow the top to be in the lowered position while driving, and in the upward extended position while camping.
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