Joybell,
Yesterday DW and I attended the Denver Sportsmen's Expo. We looked for tents that would mount on your Tundra and found several. The two that set up the fastest and were the most solid were Jumping Jack and Odin Designs. The websites are jumpingjacktrailers.com and odindesigns.com.
At the show, Jumping Jack had several models on trailers. But we were told that they have a model that will mount on the bed of your Tundra. We were impressed by how quickly the tent goes up and down and how roomy it is. The Jumping Jack website shows a demo of their model that mounts on a trailer.
At the show, Odin had one of their Roof Top Tents mounted on a cap on a Tundra. The ladder acted as a support and the whole arrangement was quite solid. It is available with a vestibule surrounding the ladder where you could probably set up a kitchen. The website has a demo.
Although either of these tents would probably work well for you, our favorite was the Jumping Jack because it was roomier, quicker to set up, and did not require a ladder. However, it also cost more.
PM me if you have questions.