We have a "day van" set up rather than a full on camper.
Decided against a pop top.
If you attach an awning rail you can all sleep in an awning.
Awning rails are available that simply bolt into existing captive bolts in the roof gutter. Very easy to fit. No drilling into van.
A roof top tent is another option for sleeping.
We also did not want a full on kitchen. We have ordered a pod from EVO Designs for the back of the van, that can be lifted out when not required. Again, no permanent fixings.
View attachment 111562
View attachment 111563