My hunch is that in a CRV you'd lay down half the backseat & sleep with your head near the front seat & your feet in the hatch, and the use the other side for stuff. I have a Pilot and that's what is working for me. I use the other half of the back seat as a lounge area when I have to be in the vehicle for periods of time, or while I'm getting ready for bed. There's a Youtube channel called 'SUV RVing', I think he's in a RAV4, which is similar in size to a CRV, and he's got a lot of useful videos.
The first get-together was five complete strangers at a large site in a PA state forest -- a free site, if you stopped by the ranger's office and requested a permit. I learned that a bucket in my vehicle was not a satisfactory bathroom experience and I needed some kind of small tent for said bucket. I learned that my french press was annoying, that my pot was poorly sized for my stove, and that cellophane is apparently a paper product. Also it was nice to know that if you got into some kind of bind, there were other people who could help.
Hope this was useful -- i had to take a kid to an appt in the middle so I apologize if it's disjointed . . .