You will need to start with a very large camper on a 1-ton DRW truck. The smaller ones will have dinette areas that are too short for adults for sleeping.
As for the tent ends you may want to instead take along a tent. I did that for years and my nephew and the dogs slept in the tent. He preferred the tent to being inside with the adults.
You should also consider the logistics of people getting to the bathroom in the middle of the night to pee without having to put on the lights or wake up everyone else.
Far easier to get a travel trailer with bunk beds and gain a larger fridge and larger holding tanks and more interior living space.