I use the amdro bootjump conversion. Folded up it sits in the boot with the rear seats up (and usually with 2 wheels off bikes and other assorted bits and pieces on them). To convert you take everything off the back seat (we have a drive away awning to dump it all in, if you don’t have too much stuff there are places inside the car it could be stashed), push/tilt the front seats forward, drop the back seats and unfold it. There is enough room to sleep as long as the front seats are far enough forward. You can either have it in “seating area” or “bed” mode, and the stove pulls out from underneath.
I used to drive a Fiat 500 which was seriously impractical for biking. I knew I needed something bigger but hesitated for ages because the Berlingos were just so van like and uncool, but within about three days of owning it you’d have to prise it out of my cold dead hands. The multispace is officially a car and insured as a car.