I have a tent like that for my CR-V.
Works good?
I have the tent that sits in the back of my pick up bed. Instead of the +$200 Truck Tentz model they sell everywhere, I got one for $50 from Walmart. It works great. I picked up an air mattress that fits between the wheel wells, best night of sleep I ever had outdoors.
I have an airmatress that will fit int he back of the van as well. I usually leave the far back seat at home and take the middle back seat out to use as a couch in the tent when I'm camping. Works out pretty good. It's nice sleeping up off the ground when it's raining and cold out. It's snug and cozy back there :>)
The only issues I've had with it has been when it rains real hard, real fast the vestuble between the tent and back of the van will collect water. I just have to remember to get up and drain it every 20 minutes or so or it will sag like crazy. I'm going to try to rig up some PVC pipe supports this year to see if it will help. All I really need is something to raise the canopy up enough to prevent water from collecting there. Should be an easy enough fix.
