Minivans and specifically the no longer made grand caravan (the ruined the design a bit with the pacifica). For two people you can do no prep camping. Throw whatever you think you might want in the back. Get to site and backup to the firepit. Throw all the stuff you brought in the driver and passenger seat and open the back. If its raining you can sit on the rear seat facing backwards and the rear door gives you shelter. At night you can just sleep in the back of the van since everything you brought is now in the front seats. Because you can flip seats up and down and such you can sit as you like and easily get the sleeping room. Done some very low prep camping this way. On another note the minivan has about as good a mileage as you get from a non car.