The challenge of creating space

Once you have made the decision on your sleeping arrangement it's time to think about where you store and how you access your gear. 

Drawer System

In case you sleep in a ground tent, swag or sleep in the back of your vehicle, the easiest way would be to put some sort of a drawer system in your vehicle. This gives you both easy access to most of your equipment, some space to organise what you take with you and could also double as a platform to sleep on.
There many manufacturers for these kind of setups on the market.
A drawer system however will limit the internal 'living' space, just in case the weather turns really bad.