I was thinking folding out over the front seats, mine has series seats in it.
You can go as far as the steering wheel as dash is higher.(hinge to bulkhead may save space & easier to fold down on a night time)
There is not much room between bed base & roof space once you add a mattress. You have to get changed outside or be very subtle.
In the rear of my Hi cap I have a sheet of 1/4”Ali going between body & roof,2 small wooded uprights supports.
This takes a twin air bed & I sleep in it while green lanes, easier than roof tent.

Last point… make sure you can open doors while the bed is down. If something happens you need to be able to exit
 
I have seen several variations on this chaps version. I planned on doing the same but on the passenger side and hinging from the canopy with a fold out for the head over the seat.
 
I was thinking folding out over the front seats, mine has series seats in it.
I did that in my old 90. Hinged so it could be flipped out the way when driving. With 2 drop down legs that sat on the edge of the seat box. At the front. And same at the rear onto the wheel boxes.
 

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