The best place for a rooftop tent on a Toyota Tacoma is often the bed, not the cab roof. On a bed rack the tent rides over the bed rails, the cab roof stays free, and you choose how high the tent sits. Here's how to build a Tacoma rooftop tent setup in three steps: the rack, the tent, and the mounts. Every XTR rack below is designed and built in Wichita, Kansas, and fits every Tacoma since 1995 (XO.SKLTN fits 2005 and newer).
Step 1: Pick the rack
A tent's weight counts against a rack's dynamic rating while you drive. Once you're parked, the tent plus the people sleeping in it count against the static rating. All ratings are evenly distributed, or your bed rails' rating if that's lower.
| Rack | Build | Off-road / static rating | Heights | Best for |
|---|---|---|---|---|
| XTR1 Pre-configured | 4 uprights | 450 lb / 1,550 lb | 15" or 21.5" | A tent and light gear on the lighter, lower-priced rack |
| XTR3 overland bed rack system | 6 uprights, four bays | 500 lb / 1,750 lb | 15" or 21.5" | A tent plus a full gear wall, AXS gates or slide-outs |
| XTR3 for Retrax XR | 6 uprights on the cover's T-slot rails | 500 lb / 1,750 lb | 15" or 21.5" | Keeping a locked Retrax XR cover under the tent |
| XTR3 Custom Height | 6 uprights | 500 lb / 1,750 lb | 10" to 26" | Setting the tent at an exact height |
| XO.SKLTN camper shell | Enclosed aluminum topper | 400 lb dynamic on the top panels / 1,550 lb | Mid or Full Height | An enclosed, lockable bed with the tent on top |
15" or 21.5"? At 15" the tent rides lower, below the cab roof, which keeps it lower in the wind. At 21.5" the rack sits near the Tacoma's cab roof line and leaves more room underneath for tall cases and coolers. Running a Softopper, Fas-Top or Bestop? Use the XTR3 Soft Topper rack.
XTR1 Pre-configured4 uprights · 450 / 1,550 lbFrom $1,549.99Shop now
XTR3 Overland Bed Rack System6 uprights · 500 / 1,750 lbFrom $2,049.99Shop now
XTR3 for Retrax XRMounts on the cover's railsFrom $2,049.99Shop now
XTR3 Custom HeightAny height, 10" to 26"From $2,199.99Shop now
XO.SKLTN Camper ShellEnclosed bed, tent on topFrom $2,100.00Shop now
Step 2: Pick a tent that suits a Tacoma bed
Your rack is 53" long on the 5-ft bed and 62" long on the 6-ft bed. Compact tents suit the Tacoma best. These are the tents we carry that are sized for a mid-size truck:
| Tent | Type | Sleeps | Closed size (L x W) | Weight | Why pick it |
|---|---|---|---|---|---|
| Roofnest Meadowlark | Soft shell, no poles | 2 | 47" x 44" | About 90 lb | The lightest option here and easy to lift off for the off-season |
| Freespirit Nova Standard | Aluminum hard shell, fold-out | 1–2 | 56¾" x 42" | 132 lb | Built for below-cab bed racks; 4-season insulated body, heater/AC ports, opens to 82" of sleeping length |
| Roofnest Condor 2 Air | Hard shell, fold-out | 2–3 | 60" x 49" | About 145 lb | Room for a third sleeper on a compact footprint |
| Intrepid Geo SOLO | Hard shell, 7" tall closed | 1 | 88.5" x 33.4" | About 132 lb with mattress | Narrow and low for a solo hunter or traveler |
| Intrepid Geo 2.5 Pro | Hard shell, 7" tall closed | See listing | 88.5" x 55" | About 165 lb | Dedicated diesel heater port for cold-weather trips |
Every tent above is well under both racks' off-road ratings. Weights and sizes are the tent makers' figures. Have a different tent? Email us the model and we'll confirm it fits your rack before you order.
Roofnest MeadowlarkSoft shell · sleeps 2 · ~90 lb$1,695.00Shop now
Freespirit Nova StandardHard shell · sleeps 1–2 · 132 lb$2,295.00Shop now
Roofnest Condor 2 AirHard shell · sleeps 2–3 · ~145 lb$3,795.00Shop now
Intrepid Geo SOLOHard shell · sleeps 1 · ~132 lb$2,895.00Shop now
Intrepid Geo 2.5 ProDiesel heater port · ~165 lb$3,995.00Shop now
Step 3: Mount it
Our stainless Rooftop Tent Brackets bolt your tent to the XTR crossbars with a short bolt, so nothing sticks down below the crossbar where you could hit your head working under the rack. Choose the XTR1 / XTR3 / XBRS version (or the XO.SKLTN version for the camper shell).
- Standard Kit (4 brackets): everyday trail use.
- Off-Road Kit (8 brackets): heavy off-road conditions.
- iKamper tents: add the iKamper adapter plates.
Use the slide-in backplates and nylon lock nuts from your tent's own hardware kit. No drilling on the rack or the truck.
Hunting truck setup: a rooftop tent camp that moves with you
A tent on a bed rack makes a strong hunting rig. Camp goes wherever you park, and the bed stays loaded underneath.
- The bed keeps working. Coolers, packs, boots and game bags stay in the bed under the tent instead of coming out so you can sleep.
- Side access. AXS gates swing a loaded side of the rack up, so you can reach into the bed without climbing in under the tent.
- Gear on the outside. MOLLE plates carry recovery boards, a shovel and lights, and a Rotopax Mounting Plate carries fuel or water.
- Move camp fast. Many hard shell tents close with bedding inside (the Nova stores a sleeping bag and pillows), so moving to the next spot takes minutes.
XTR AXS Gate KitPop-up side accessFrom $239.99Shop now
XTR MOLLE PlatesGear wall panelsFrom $72.95Shop now
Rotopax Mounting PlateFuel or water on the rack$24.99Shop now
Late-season tips: pick an insulated or 4-season tent, and one with a heater port if you'll run a heater. A closed-cell foam pad under the mattress blocks cold air coming up through the floor. Crack a vent to cut condensation. Keep any fuel-burning heater outside the tent, with only a warm-air duct coming in, and run a carbon monoxide alarm. More in our rooftop tent winter guide and heated blanket buying guide.
Three Tacoma rooftop tent builds
- Late-season hunting rig: XTR3 at 15", Stage 3b (two AXS gates) + Nova Standard or Geo 2.5 Pro + Rooftop Tent Brackets, Off-Road Kit + Rotopax Mounting Plate.
- Lightest weekend tent rig: XTR1 Pre-configured at 15", Stage 1 + Meadowlark + Rooftop Tent Brackets, Standard Kit.
- Covered bed with a tent on top: XTR3 for Retrax XR + Condor 2 Air + Rooftop Tent Brackets.
Tacoma Rooftop Tent FAQ
Will a rooftop tent fit on a Tacoma with the 5-ft bed?
Yes. The 5-ft bed takes a 53" rack and the 6-ft bed a 62" rack. Compact tents like the Meadowlark (47" long closed) and Nova Standard (56¾") suit the short bed. Longer tents can overhang the rack, so email us your tent model and we'll confirm the fit.
Bed rack or cab roof for a Tacoma rooftop tent?
A bed rack keeps the tent off the cab roof and puts its weight on the bed rails. You choose the tent's height (15" or 21.5", or anywhere from 10" to 26" with Custom Height), and you can still carry gear in the bed and on the rack's sides. It also leaves the cab roof free for a roof rack or lights.
How much weight can the rack hold with people in the tent?
Parked, the XTR3 is rated 1,750 lb static and the XTR1 1,550 lb, evenly distributed, or your bed rails' rating if lower. Count the tent, everyone in it and any gear on the rack. While driving, the off-road ratings apply: 500 lb for the XTR3 and 450 lb for the XTR1. Count the rack and tent against your Tacoma's payload too.
Can I keep my tonneau cover?
Usually, yes. Our standard Wide Width bracket clears most soft and roll-up covers; tri-folds fit but can't open fully. With a Retrax XR, use the XTR3 for Retrax XR, which bolts to the cover's rails.
What height should my rack be for a rooftop tent?
15" keeps the tent lower, below the cab roof. 21.5" puts it near the cab roof line with more room under the rack for gear. For an exact height, the XTR3 Custom Height goes from 10" to 26".
Which bracket kit do I need?
The Standard Kit (4 brackets) for everyday trail use, or the Off-Road Kit (8 brackets) for heavy off-road conditions. Add the iKamper adapter plates for iKamper tents. Your tent's own backplates and lock nuts finish the install.
Do I have to drill anything?
No. XTR racks bolt to your Tacoma's bed rails, and the tent bolts to the rack's crossbars.
Shop the setup
Toyota Tacoma bed racks · Rooftop tents · Rooftop Tent Brackets · Toyota Tacoma overland build
Questions about your build? [email protected] · (316) 330-0024