Is the speed with which your buddies are able to make and break camp what makes you envious? If that's the case, I would look at a cot tent or similar if you don't want to spend the money on a rooftop tent. You're not going to achieve quick setup and tear down sleeping inside a TJ since your cargo hold is doubling as your sleeping space. Everything inside the jeep needs to be outside before you can start making your bed.
Something like this is good for one person -
maybe a small dog could fit around your legs:
https://www.wayfair.com/outdoor/pdp...-series-tent-cot-lppb1168.html?piid=109509776
The Aussies use something similar called a swag. I believe these pack down smaller than cot tents, but are generally pretty expensive. First thing that came up on google:
https://kodiakcanvas.com/collections/swagtent/products/swag-1-person-canvas-camping-tent
I ultimately went with a GFC RTT on a trailer. My envy was aimed at a buddy sleeping in the bed of his truck. It got old repeatedly putting away wet and muddy tents during week long trips.