If you are driving across the nation or just looking for an inexpensive way to camp, you could think about sleeping in your car. Of course, it stands to reason that certain vehicles would perform better than others.
Lets see , I guess you want people to tell you what vehicle you can sleep in . You don’t give a price range , new or used or even if you will be by yourself.
Sorry , you will just have to leave the house and find something that meets your needs rather than someone else. I would look for a Camper Van myself.
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A minivan with one or all middle row seats removed.
Been there, done that, many times. 1999 Plymouth Voyager and 2007 Chrysler Town and Country, short wheelbase. Most on the market now are longer.
I agree with shanonia’s recommendation for a minivan. I’ve done extensive traveling living out of a minivan. They offer the needed room for whatever amenities you will want to have with you during your travels.
Minivans are also more space and fuel efficient than SUVs.
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The bigger, the better.
Suburbans are comfy.
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Look for an SUV-sized vehicle with back seats that fold down to produce a nice, flat floor for a sleeping bag. I rented a Chevy HHR a few years ago w/ that configuration, not sure it applies to newer models.
Chrysler minivan with stow and go seating is the best. Ford Flex and many other SUVs will also work, although I would look for a 2nd row bench seat instead of captains chairs. The Dodge Journey is probably the least expensive vehicle that would offer acceptable space.
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I’ve slept in the back of my '15 Subaru Forester with the back seat’s folded, I’m 6ft tall and it worked well enough for the couple nights I was camping out. You would be more comfortable in a larger SUV but does it meet your needs the rest of the time.
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But no fins!
Is this booty more like it? 1959 Buick Invicta.
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You could likely put an air mattress the size of a full size bed in that Chrysler wagon!
I suggest a full size van from Chevy or Ford if you want a little more headroom.
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Speaking of headroom, vans like the Sprinter or Ford Transit can provide standing room as well as a huge floor area.
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Yep, that will do it. Or a ‘59 Cadillac hearse! Coffins are comfy.
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Just be aware, you respire a heck of a lot of water vapor while you’re breathing and that goes for sleeping as well. Most dedicated sleeping vehicles have some way to vent the interior (with a screen for bugs). If you just camp out in a car every night, you might end up with a situation growing mold or mildew. How much water vapor you will produce is very dependent on the temperature and relative humidity of the air. The colder and drier the air, the more water vapor you will produce. In relatively “normal” sleeping environment, you might expect to respire more than a half pound of water!
I slept in the back of a pickup once with a shell over the bed. Woke up to dripping water from the roof and a soaked sleeping bag…learned to open the windows after that 
I’ve seen several variations of these over the years while camping. Good for a couple or a single. Not too sure how practical for a family of 4.
