I've gone through so many different setups. I'm back with a roof top tent, but a hard shell roof top tent this time. And I love it.
I still have a 3-season ground tent that I can use if I want to camp somewhere that I can't take my truck. It's small, lightweight, and is easy to setup and tear down.
I started with a clamshell-style roof top tent mounted to my cap. And while it was comfortable, it was a complete pain in the butt for me to setup and tear down. I absolutely hated dealing with that.
Then I bought a hammock and hammock rain fly. And while it's absolutely awesome for chilling in, I'm not comfortable sleeping in it. I tried it, with my 25 lb. pup laying on top of me, and it just wasn't going to work. I like to change positions at night, and that's just not possible when you have a pup sleeping on top of you. lol
I also have a sleeping platform in the back of my trip under my A.R.E. cap. While it is mostly used to simply separate my gear, it also allows me to stealth camp while traveling, and it gives my pup a place to get out of the rain when we're at camp.