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Found a great (and much less expensive) option to a rooftop tent. This is the Crua Culla. It's insulated and its structure is inflatable, so can be set up with no poles or stakes in about 30 seconds using the Rivian's onboard compressor. The tent fits the bed perfectly. It has tent-stake loops at the four corners that I secured to the truck with loops of velcro.

Just camped in Joshua Tree with the setup and the tent was great in 30 mph gusting winds. The only downside is the tent isn't waterproof, so I sprayed the exterior with tent sealer and also bought a tarp to go over the tent when I camp and heavy rain is expected.