First I tried the Napier Sportz Dome-To-Go Tent but it was too small for the Model Y.

Next I used the Napier Sportz SUV Tent for quite a while but ultimately gave up on it because:

• It took so long to set up (~1 hour) that I found myself not bothering to use it for short stays.
  
• It didn't seal well against the car, allowing bugs in.
  
• Climbing into the car through the trunk was awkward. Most of the time I prefer to enter the car through the passenger side door.
  
• If I wanted to do an errand while camping (like go to the gym), I had to go through a process of disengaging the tent from the car every time.

I'm now using a standalone gazebo and am happier.

• It's designed to set up and tear down quickly.
• There are 16 tent stakes, which are nice but take a long time to put in, so I made this process more efficient by using lag screws instead and driving them in with an impact wrench.
• At night I sometimes surround it with string lights so that people don't trip on the guy lines at night (useful at festivals).
• It's big, even when stored, and I transport it in my rooftop cargo box.