You can prob set up a bed inside for the times you don't want to pitch a tent or the weather is wild. Plenty of members here in smaller vehicles. Not that tent sleeping is a bad thing, I've gotten some of the best sleep of my life in a tent.
Getting out there is half the battle, the good views and good weather you're able to follow being a nomad don't care what type of vehicle you're in, mother nature doesn't discriminate.