I'm a ground tent person. I like to keep my load light, for mobility. I don't carry as much stuff as most. I think that it comes from my Military or Backpacking background. Now that I do more Overlanding, I still keep my load light. Since I have a Jeep JK Unlimited, with a notoriously low GVWR, this works out just fine. I'm perfectly happy with my ultralight Overlanding camp setup. A comfortable camp is always relative. I have a lot more comfort items, compared to when I carried everything on my back. This approach has the side benefit of reduces breakage on the vehicle, by not exceeding loads the vehicles was designed to handle.