A 2720 would work for you, at least length-wise. How many people are you wanting to camp with? We did OK with our 2720 with our two teenage kids and they did have separate beds.
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'97 2720 & '01 Chevy Silverado 1500 4x4
2011 & 2017 Prii, 10'x18' & 10'x9' Tents
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