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In my CRV the plan is to remove only the passenger side rear seat, then slide the pas. front seat forward when sleeping, should get easy 7' of room. With the drivers seat forward there is enough room behind it to change clothes while seated in the back row.
I plan on traveling to PNW some day and sleeping in the CRV about 2/3's of the time. About every third night I'd get a room to get a shower and such.
You can also plan storage under the sleeping area, but weight = less MPG so pack smartly if possible.
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