I don't have any first hand experience, but can provide you with a few ideas.
I was searching lightweight campers a few days back and stumbled upon a few things. Maybe something like the following would work better for you.
This will hook up to your hitch (if you have one) and keeps you off the ground, and can be left behind
Hitch 'n Pitch ? The hitch-mounted solution for your roof top tent!
I also found a solid side camper/tent, but cannot find it right away. It was a box that attached to the hitch and can be used for cargo. When you get to your site, it pulls out into slightly larger than a queen bed. It has legs and can be left similar to the Hitch N Pitch above, but it is a hard side. It appeared to have 3 sections that pulled out. I believe that it was still a Kickstarter campaign.
We have a Space Trailer (link below) that we tow around. We use this for bikes/paddleboards/compost...We were looking at a rooftop tent to put on the trailer and then could have the bikes/boards on top of my Wife's Outback (until I get an Ascent :grin: - waiting for our dealer to drop below MSRP and for some of the software things to be worked out). The trailer pulls really nice and we have had ours since 2011 and it has held up well.
https://www.spacetrailers.com/
I look forward to seeing feedback on these. Part of the reason we have not done a rooftop on the trailer is if we want to take our dogs with, this would be a pain.