This is a cool topic.
Personally, a rooftop tent is neither in the budget or the style we've built out our Trooper with. We are backpackers, and Scouts, so we've got a lot of backpacking gear and a variety of car camping gear that we can switch over to overlanding ( which is a little more compact then just hauling some gear to a campsite).
For tent, I'm using either an old two man backpacking tent that packs small, weighs 5 lb and is luxurious for a single, or a Big Agnes four person car camping tent that I can almost stand up in, has a large vestibule I can attach and easily accommodates two cots on either side of the main enclosure. It weighs about 8 lb with everything including the vestibule, and packs pretty small for its size.
I don't mind sleeping on the ground, where there's less wind and because all the angry, horny, hungry bears prefer to climb into the rooftop tents.