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Even if the truck wasn't empty often times they aren't completely full either. I believe they load from the front back so whatever empty space they might have would be where they could collapse the roof after loading.
Lots of slide in truck campers have a pop up roof, as do some towables. They are usually toward the low end of pricing. RVs cost so much new and are such a luxury in the first place for most people, mpg doesn't start to enter their mind until years later and probably the 2nd or 3rd owner and it's too late then.
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