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Yup, double airbed, and duvet here if I'm car camping.
Dog beds down the side for the Terriers.
All in a 4 man tent you can stand up in, with a decent porch ( carpeted, natch) you can stand up in, and a decent fold flat gas Cooker, and a portable Braai.
No point in being uncomfortable..
I’d recommend a Cabanon canvas frame tent
+1. Bagged a like-new Vis a Vis Luxe a few years ago on fleabay for a few hundred quid. The flysheet is some sort of vinyl so mold not a problem there Used for a 2 seasons (summer to late autumn) but I killed the (cotton) inner by not cutting the grass/nettles around, hence it succumbed to mucho mold. For regular trips (as long as you dry it properly each time) they are hard to beat. The Cabanon Pyramide (+ sun-awning) is something I'd like to have for a sturdy setup. Have seen them in action and they are somewhat of a gold-standard for family camping, along with the DeWaard Albatross. Big investment though, you'd have to be sold on camping and looking to use every year to justify the cost. Unless a good used bargain presents itself.
Another Q about self inflating mattresses, bit nervous of splashing out a couple hundred for two/a double without thinking it through. How forgiving are they of lumpy surfaces? When kipping in the van I throw an airbed on top of the back seats, the back 5 seats fold flattish but not perfectly flat. The airbed irons out the bumps somewhat.