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The Ultimate Rivian R1S Car Camping Guide
Rivian R1S + Hest Foamy Mattress + Luno Camp Pillows
As an adventure-focused brand, we know many Rivian owners are campers, overlanders, explorers, or somewhere in between. Camping in an EV just makes sense—with ample onboard power and built-in HVAC, you get all-weather comfort without the usual hassle. It might take some trial and error to dial in the perfect setup, but here’s my guide to transforming your Rivian R1S into a capable, go-anywhere camping rig.
If electric car camping is something you’re curious about, I encourage you to read on. Just a quick note: this isn’t a sponsored post. No brand paid me, and no one sent me free gear. I personally purchased every single item listed in this guide. After plenty of research and trial-and-error, I’ve landed on a setup that just works—reliable, simple, and road-tested.
WHAT MAKES THE RIVIAN R1S A PERFECT CAMPER
The Rivian R1S is a spacious 3-row family SUV that not only drives beautifully but also doubles as a surprisingly capable camper. With air suspension, impressive off-road capability, and luxury-level comfort, it’s a solid choice for all kinds of camping, whether you prefer well-equipped campgrounds or remote, off-grid adventures.
The auto-level feature is a total game-changer. It automatically adjusts the vehicle’s pitch and roll to create a perfectly level surface, no matter the terrain. Whether you’re sleeping inside the vehicle or in a rooftop tent, this feature ensures a flat, stable setup, so you can sleep like a baby, wherever you park. With the second and third rows folded down, the (nearly) flat cargo area offers ample room for those who enjoy car camping.
What really sets it apart is the massive amount of built-in storage, even without any modifications and add-ons. The "frunk" is spacious enough to fit the charging cable, a first aid kit, two Yeti LoadOut GoBoxes (GoBox 60 + GoBox 15), and four CLIQ camping chairs (two ClassiQ and two EpiQ Lounge). And the best part? There’s still a huge subtrunk, because there’s no gas tank taking up space.
Now that you know the why, let’s dive into the how and turn your Rivian R1S into a camp-anywhere rig.
Very Comfortable, Spacious & Cozy
STEP 1: MAKE IT 100% FLAT
I’m 6’3” (yeah, it's very tall as an Asian), and I can lie down comfortably in the back of the R1S with no problem. That said, as mentioned earlier, the surface isn’t 100% flat, and that did bother me a bit.
The good news? It’s an easy fix.
Perfect Fridge Setup
After a bit of research, I came across the 3D printed Cargo Floor Riser from Opensource EV. I ordered a set, tested them out, and they fit perfectly, completely flattening the rear cargo area of the R1S. No need for a bed rack. The riser alone does the job.
100% Flat Surface in the Rear of Your Rivian R1S
To keep them in place, I used some double-sided 3M tape, and they’ve since become part of my permanent setup—even when I’m not camping.
STEP 2: ADD SEATBACK PROTECTION
Whether you’re heading out for a camping trip, taking your kids biking, or bringing your pets to the park, there’s always gear involved—and that gear can easily scuff up the back of your seats and trunk. That’s why I always recommend installing a high-quality seatback protector.
A good seatback protector helps keep things in place while protecting your seats from scratches, dirt, and wear. Personally, I use the 3D MAXpider set, including their seatback protectors. While I’m not a fan of the oversized logo, I do appreciate the premium materials and overall fit.
One tip: you can cut out the section that covers the subtrunk cover's lift handle for easier and faster subtrunk access. My only real complaint is that the included Velcro strips aren’t strong enough to hold the protectors in place. I had to purchase extra adhesive Velcro to prevent them from sliding down, but once that’s done, they’ve held up great.
Rivian x Hest Foamy Mattress
STEP 3: ADD A COMFORTABLE MATTRESS & PILLOWS
As many seasoned campers will tell you, nothing matters more than a good night’s sleep. If you plan to camp often, don’t skimp on the mattress—it’s one of the best investments you can make. There are plenty of great options out there, but I personally prefer a hybrid mattress for the balance of support. I used the Exped MegaMat Auto for a while and loved it, but it’s not specifically designed for the Rivian R1S. Now, there are a few brands offering tailored solutions, like Luno's AIR+FOAM Pro Mattress and Hest Foamy, which is Rivian’s official mattress partner. I purchased it to replace my Exped MegaMat Auto, and they're INSANELY comfortable.
Tailor-Made for Rivian R1S
You can securely connect both mattress halves for a full sleeping surface or use just one if you’re camping solo. I really like the included pockets, which are perfect for storing your phone or AirPods overnight. While it’s not the most packable or lightweight option, the comfort level more than makes up for it.
If you’re like me and want to keep things clean and dust-free, I highly recommend grabbing Hest’s 50" fitted sheet. It makes post-trip cleanup easy—just toss it in the wash. Fun fact, I actually used their fitted sheet for the Exped MegaMat Auto before and it worked great, too.
As for pillows, Hest makes their own camp pillows, but I had already picked up Luno’s camp pillows (as shown in the picutures) before getting the Foamy. They’re super packable and come with washable pillowcases designed with a dual-sided cover: one for warmer nights, the other for colder temps. I don’t usually pack them away; instead, I use them as lumbar support while driving, and they’ve worked great for that too.
STEP 4: ADD A PORTABLE FRIDGE
While there’s no shortage of “camping essentials” out there, the number one item I consider essential is a reliable and efficient portable fridge. For an EV, having a fridge that can stay powered while parked is almost a no-brainer. It’s incredibly useful for camping, grocery runs, or simply enjoying a cold drink on the go, and no, it doesn’t drain much power at all.
There are tons of portable fridge options out there—some with freezer capability, others with dual-zone setups. I went with the ICECO APL35 aluminum fridge because of its clean design and flexible dual-zone configuration. You can easily adjust the temperature via the companion Bluetooth app and monitor everything right from your phone.
For months, I had the fridge sitting in the trunk, which worked well. But I always thought—how great would it be if I could hide it away? So last week, I decided to try placing it in the subtrunk—and oh my gosh, it fits perfectly. I regret not doing it earlier.
It does stick out slightly, but the cargo floor riser I mentioned earlier solves that beautifully. The riser adds just the right height to hide the fridge while also creating enough ventilation space for heat to escape. The result? A clean, functional, and stealthy setup. I haven’t tried other portable fridge options, but honestly, this setup fits the R1S so well that I don’t feel the need to look elsewhere. It’s simple, clean, and just works.
STEP 5: ENTERTAINMENT
Okay, this step is totally optional—but for me, it made a big difference.
One of the main reasons I chose the Rivian R1S was to explore the world with my 4-year-old before he grows up. California has no shortage of stunning places to camp, but some can be hours away from home. While I’m strict about screen time, I also recognize that having a screen available during long drives can make the road trip experience so much smoother, for both of us. So, I added two things to my setup: an iPad mount and a mobile theater setup.
After a lot of research (and forum digging), I landed on the @BestEvMod(AOSK) BestEVMods tablet mount. It’s clean, secure, super easy to install, and allows quick switching between landscape and portrait mode. The tiltable design is also great for kids, allowing them to adjust to the perfect viewing angle, even in a booster seat.
I also own a 2023 Tesla Model X, which, like the R1S, has a rear display with apps like Netflix, Hulu, YouTube, and Disney+. But I never let my kid use it, mainly because the viewing angle is terrible, especially for little ones in booster seats.
The Rivian R1S, on the other hand, has a built-in USB-C port on the back of the front headrest and an integrated hook, making it the perfect place to mount a tablet. Paired with Rivian’s mobile hotspot (included with the $15/month Premium Connectivity plan and supports up to 8 devices), my little camping buddy can stream content comfortably during those longer drives.
For nighttime entertainment, I use the XGIMI MoGo 3 Pro—a super portable projector that runs Google TV and comes with a built-in adjustable stand. I pair it with a compact, free-standing 40” projector screen to transform the R1S into a mobile theater. The projector screen fits perfectly at the rear of the car, making setup a breeze. I usually place the projector on its carrying case—which works surprisingly well as a stand (just note: I believe the case is sold separately).
Just slide the front seats back a bit, lean into them, and you’ve got a cozy movie setup under the stars. Sometimes, I even sneak into the garage to catch an NBA or MLB game solo. It’s surprisingly relaxing and a lot of fun.
STEP 6: RACK & ACCESSORIES TO CONSIDER
One crucial aspect of car camping, especially when sleeping inside your vehicle, is storage. When you’re heading out on a trip, you’ll need all kinds of gear, and sleeping in the car means most of your interior space is already spoken for. That’s why figuring out how to organize and store your essentials efficiently isn’t just helpful, it’s absolutely essential.
If you’re like me and travel with a young kid, the first thing you’ll want to sort out is a dedicated space for your child’s essentials, especially for longer trips. Peace of mind starts with being prepared.
My go-to solution is a stackable, collapsible camping box, which conveniently fits between the first and second row seats. Inside, I keep a change of clothes, clean underwear, socks, a few toys, books, and of course, baby wipes. I have the exact same setup in my Tesla as well. Bonus: the box also doubles as a step stool, making it easier for my little one to climb into the car seat on their own. And yes, my kid knows he needs to take his shoes off in the vehicle.
Next up, like I mentioned earlier, the frunk is insane. I use it to store all my cooking gear: cookware, plates, bowls, and everything I need to set up a campfire, prep meals, and make pour-over coffee. I keep it all organized in two YETI boxes, and they fit perfectly in the frunk.
As for the rest of my essentials, I use a Wandrd Carryall 60L duffle bag. It holds everything else I might need on a trip. And since I’ve already shared how to tuck away the portable fridge in the subtrunk, setting up for sleep is easy: just move the car seat or booster and the duffle bag to the front seats—and you’re ready to make your bed and call it a night. Don't forget to auto-level the car and turn on camp mode, though.
You might be wondering—what if you have more gear to carry? While I try to pack light, the reality is I often bring more than what I’ve listed here. And I’m not a fan of leaving my equipment on the picnic table or the ground overnight. I also don’t want things like a fire pit stored inside the cabin where I sleep.
To solve that, I added a Pakmule hitch carrier, which gives me extra exterior storage for bulky or dirty items, such as my fire pit, campfire wood, shower solution, etc. And as many of you know, I’m also the co-founder of Mars Adventure Gear, and I’m about to install our Rivian R1S Roof Rack System. That setup will let me mount the Kammok freestanding awning, and even add a rooftop tent when I have friends or family joining at the campsite.
Rivian R1S + Hest Foamy Mattress + Luno Camp Pillows
As an adventure-focused brand, we know many Rivian owners are campers, overlanders, explorers, or somewhere in between. Camping in an EV just makes sense—with ample onboard power and built-in HVAC, you get all-weather comfort without the usual hassle. It might take some trial and error to dial in the perfect setup, but here’s my guide to transforming your Rivian R1S into a capable, go-anywhere camping rig.
If electric car camping is something you’re curious about, I encourage you to read on. Just a quick note: this isn’t a sponsored post. No brand paid me, and no one sent me free gear. I personally purchased every single item listed in this guide. After plenty of research and trial-and-error, I’ve landed on a setup that just works—reliable, simple, and road-tested.
WHAT MAKES THE RIVIAN R1S A PERFECT CAMPER
The Rivian R1S is a spacious 3-row family SUV that not only drives beautifully but also doubles as a surprisingly capable camper. With air suspension, impressive off-road capability, and luxury-level comfort, it’s a solid choice for all kinds of camping, whether you prefer well-equipped campgrounds or remote, off-grid adventures.
The auto-level feature is a total game-changer. It automatically adjusts the vehicle’s pitch and roll to create a perfectly level surface, no matter the terrain. Whether you’re sleeping inside the vehicle or in a rooftop tent, this feature ensures a flat, stable setup, so you can sleep like a baby, wherever you park. With the second and third rows folded down, the (nearly) flat cargo area offers ample room for those who enjoy car camping.
What really sets it apart is the massive amount of built-in storage, even without any modifications and add-ons. The "frunk" is spacious enough to fit the charging cable, a first aid kit, two Yeti LoadOut GoBoxes (GoBox 60 + GoBox 15), and four CLIQ camping chairs (two ClassiQ and two EpiQ Lounge). And the best part? There’s still a huge subtrunk, because there’s no gas tank taking up space.
Now that you know the why, let’s dive into the how and turn your Rivian R1S into a camp-anywhere rig.
Very Comfortable, Spacious & Cozy
STEP 1: MAKE IT 100% FLAT
I’m 6’3” (yeah, it's very tall as an Asian), and I can lie down comfortably in the back of the R1S with no problem. That said, as mentioned earlier, the surface isn’t 100% flat, and that did bother me a bit.
The good news? It’s an easy fix.
Perfect Fridge Setup
After a bit of research, I came across the 3D printed Cargo Floor Riser from Opensource EV. I ordered a set, tested them out, and they fit perfectly, completely flattening the rear cargo area of the R1S. No need for a bed rack. The riser alone does the job.
100% Flat Surface in the Rear of Your Rivian R1S
To keep them in place, I used some double-sided 3M tape, and they’ve since become part of my permanent setup—even when I’m not camping.
STEP 2: ADD SEATBACK PROTECTION
Whether you’re heading out for a camping trip, taking your kids biking, or bringing your pets to the park, there’s always gear involved—and that gear can easily scuff up the back of your seats and trunk. That’s why I always recommend installing a high-quality seatback protector.
A good seatback protector helps keep things in place while protecting your seats from scratches, dirt, and wear. Personally, I use the 3D MAXpider set, including their seatback protectors. While I’m not a fan of the oversized logo, I do appreciate the premium materials and overall fit.
One tip: you can cut out the section that covers the subtrunk cover's lift handle for easier and faster subtrunk access. My only real complaint is that the included Velcro strips aren’t strong enough to hold the protectors in place. I had to purchase extra adhesive Velcro to prevent them from sliding down, but once that’s done, they’ve held up great.
Rivian x Hest Foamy Mattress
STEP 3: ADD A COMFORTABLE MATTRESS & PILLOWS
As many seasoned campers will tell you, nothing matters more than a good night’s sleep. If you plan to camp often, don’t skimp on the mattress—it’s one of the best investments you can make. There are plenty of great options out there, but I personally prefer a hybrid mattress for the balance of support. I used the Exped MegaMat Auto for a while and loved it, but it’s not specifically designed for the Rivian R1S. Now, there are a few brands offering tailored solutions, like Luno's AIR+FOAM Pro Mattress and Hest Foamy, which is Rivian’s official mattress partner. I purchased it to replace my Exped MegaMat Auto, and they're INSANELY comfortable.
Tailor-Made for Rivian R1S
You can securely connect both mattress halves for a full sleeping surface or use just one if you’re camping solo. I really like the included pockets, which are perfect for storing your phone or AirPods overnight. While it’s not the most packable or lightweight option, the comfort level more than makes up for it.
If you’re like me and want to keep things clean and dust-free, I highly recommend grabbing Hest’s 50" fitted sheet. It makes post-trip cleanup easy—just toss it in the wash. Fun fact, I actually used their fitted sheet for the Exped MegaMat Auto before and it worked great, too.
As for pillows, Hest makes their own camp pillows, but I had already picked up Luno’s camp pillows (as shown in the picutures) before getting the Foamy. They’re super packable and come with washable pillowcases designed with a dual-sided cover: one for warmer nights, the other for colder temps. I don’t usually pack them away; instead, I use them as lumbar support while driving, and they’ve worked great for that too.
STEP 4: ADD A PORTABLE FRIDGE
While there’s no shortage of “camping essentials” out there, the number one item I consider essential is a reliable and efficient portable fridge. For an EV, having a fridge that can stay powered while parked is almost a no-brainer. It’s incredibly useful for camping, grocery runs, or simply enjoying a cold drink on the go, and no, it doesn’t drain much power at all.
There are tons of portable fridge options out there—some with freezer capability, others with dual-zone setups. I went with the ICECO APL35 aluminum fridge because of its clean design and flexible dual-zone configuration. You can easily adjust the temperature via the companion Bluetooth app and monitor everything right from your phone.
For months, I had the fridge sitting in the trunk, which worked well. But I always thought—how great would it be if I could hide it away? So last week, I decided to try placing it in the subtrunk—and oh my gosh, it fits perfectly. I regret not doing it earlier.
It does stick out slightly, but the cargo floor riser I mentioned earlier solves that beautifully. The riser adds just the right height to hide the fridge while also creating enough ventilation space for heat to escape. The result? A clean, functional, and stealthy setup. I haven’t tried other portable fridge options, but honestly, this setup fits the R1S so well that I don’t feel the need to look elsewhere. It’s simple, clean, and just works.
STEP 5: ENTERTAINMENT
Okay, this step is totally optional—but for me, it made a big difference.
One of the main reasons I chose the Rivian R1S was to explore the world with my 4-year-old before he grows up. California has no shortage of stunning places to camp, but some can be hours away from home. While I’m strict about screen time, I also recognize that having a screen available during long drives can make the road trip experience so much smoother, for both of us. So, I added two things to my setup: an iPad mount and a mobile theater setup.
After a lot of research (and forum digging), I landed on the @BestEvMod(AOSK) BestEVMods tablet mount. It’s clean, secure, super easy to install, and allows quick switching between landscape and portrait mode. The tiltable design is also great for kids, allowing them to adjust to the perfect viewing angle, even in a booster seat.
I also own a 2023 Tesla Model X, which, like the R1S, has a rear display with apps like Netflix, Hulu, YouTube, and Disney+. But I never let my kid use it, mainly because the viewing angle is terrible, especially for little ones in booster seats.
The Rivian R1S, on the other hand, has a built-in USB-C port on the back of the front headrest and an integrated hook, making it the perfect place to mount a tablet. Paired with Rivian’s mobile hotspot (included with the $15/month Premium Connectivity plan and supports up to 8 devices), my little camping buddy can stream content comfortably during those longer drives.
For nighttime entertainment, I use the XGIMI MoGo 3 Pro—a super portable projector that runs Google TV and comes with a built-in adjustable stand. I pair it with a compact, free-standing 40” projector screen to transform the R1S into a mobile theater. The projector screen fits perfectly at the rear of the car, making setup a breeze. I usually place the projector on its carrying case—which works surprisingly well as a stand (just note: I believe the case is sold separately).
Just slide the front seats back a bit, lean into them, and you’ve got a cozy movie setup under the stars. Sometimes, I even sneak into the garage to catch an NBA or MLB game solo. It’s surprisingly relaxing and a lot of fun.
STEP 6: RACK & ACCESSORIES TO CONSIDER
One crucial aspect of car camping, especially when sleeping inside your vehicle, is storage. When you’re heading out on a trip, you’ll need all kinds of gear, and sleeping in the car means most of your interior space is already spoken for. That’s why figuring out how to organize and store your essentials efficiently isn’t just helpful, it’s absolutely essential.
If you’re like me and travel with a young kid, the first thing you’ll want to sort out is a dedicated space for your child’s essentials, especially for longer trips. Peace of mind starts with being prepared.
My go-to solution is a stackable, collapsible camping box, which conveniently fits between the first and second row seats. Inside, I keep a change of clothes, clean underwear, socks, a few toys, books, and of course, baby wipes. I have the exact same setup in my Tesla as well. Bonus: the box also doubles as a step stool, making it easier for my little one to climb into the car seat on their own. And yes, my kid knows he needs to take his shoes off in the vehicle
.
Next up, like I mentioned earlier, the frunk is insane. I use it to store all my cooking gear: cookware, plates, bowls, and everything I need to set up a campfire, prep meals, and make pour-over coffee. I keep it all organized in two YETI boxes, and they fit perfectly in the frunk.
As for the rest of my essentials, I use a Wandrd Carryall 60L duffle bag. It holds everything else I might need on a trip. And since I’ve already shared how to tuck away the portable fridge in the subtrunk, setting up for sleep is easy: just move the car seat or booster and the duffle bag to the front seats—and you’re ready to make your bed and call it a night. Don't forget to auto-level the car and turn on camp mode, though.
You might be wondering—what if you have more gear to carry? While I try to pack light, the reality is I often bring more than what I’ve listed here. And I’m not a fan of leaving my equipment on the picnic table or the ground overnight. I also don’t want things like a fire pit stored inside the cabin where I sleep.
To solve that, I added a Pakmule hitch carrier, which gives me extra exterior storage for bulky or dirty items, such as my fire pit, campfire wood, shower solution, etc. And as many of you know, I’m also the co-founder of Mars Adventure Gear, and I’m about to install our Rivian R1S Roof Rack System. That setup will let me mount the Kammok freestanding awning, and even add a rooftop tent when I have friends or family joining at the campsite.
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