Pull out the back seats (easily done, both have two 14mm bolts) and you have at least 73 inches from the back of the front seat. People build a flat platform (with storage underneath) and put a megamat duo in.
I measure dimensions on the Exped as follows:
Single size: 80 by 32 (they say 78 by 30+) Duo size: 78 by 52 (long wide double)
The Canadian Gearhead says he is 6'3" and lays down very comfortably with the seats removed and front seats fully forward.
If you get Toyotas "sliding cargo deck" it levels things out and gets rid of the "hump". If you don't actually get this with your vehicle, forget about adding it on later.
People even shove cots in the back after removing the seats. My big cot is 82 long, so it won't fit. (Maybe it would fit with the sliding cargo deck slid out?) Both of my megamats are 78 and ought to just fit.
A guy says: "You don't need a platform. Get a truck Bedz Air mattress (with wheel well cutouts (Amazon)). Fill the mattress and let out just enough air to close the hatch. Climb in through the passenger rear doors. You will have the best night of sleep of your life.... no boards, no mats, no building anything, and it resolves the "hump" issue.
This is $160. It is an air mattress (you get a motorized pump as part of the deal).
I would rather build a platform and gain the extra storage underneath.My buddy Dallan turned me on to this outfit. Their product is called the "hideaway".
It looks to me like they have 3 models, and I would want the "uneven floor leg kit" given the 4runners "bump".As I measure, the XL would be a very tight fit into the 4runner.
My megamat is 32 wide, so I could make do with a single (and they say as much)
The megamat Duo is 52 wide. They say their "double" will handle the Megamat Duo,
and even give a photo that seems to show how it would be.
I would have thought the XL would be needed for the Duo.
The verdict so far is "no". Too expensive and searching online doesn't reveal any reviews. I like the idea, and the product might be great, but I'm not willing to be a beta tester. Maybe if some positive reviews show up in the next year or two, but at this point I think I would rather build something of my own, especially for that much money.
Sleeping on top can be done, but seems a lot less common. These racks are popular for what people call "overlanding".
My friend Andrew recommends the Prinsu rack. The rack is $980 and the ladder is $470.
The Sherpa rack also looks good for a low profile CNC rack using 1/4 inch aluminum. An outfit called C4 fab makes a ladder ($549). The ladder can remain mounted when the rear door opens!
Scroll down in the usage thread and there are a bunch of photos by J-BlickPhoto showing all kinds of things going on on top of his 4runner.
Tom's Auto repair pages / tom@mmto.org