Luno is a great product but I had to return it as My wife and I had so much trouble sleeping on the mattress. Instead we got a 6 inch tri-fold memory foam mattress that we sleep fantastic on. We can roll over without bothering each other and i slept like a rock the first night. It's a big large when folded up, but definitely fits in the Crosstrek along with all of our other camping gear and a spot for a dog. We also use a Thule roof top cargo box for extra storage which is also nice to "live" out of when camping vs the our shits all over the ground or jammed into the front seats.

To fill the void in behind the seats we bought a large/medium storage container for clothes, then 2 smaller containers for toiletries and snacks for behind both the drivers and passenger seats. The entire set up takes very little time to set up and take down. It is working out very well for us.

If you don't mind air mattresses i would highly suggest getting the Luno tho!

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Good Luck

Milliard 6-Inch Memory Foam... https://www.amazon.com/dp/B00DJ8HX96?ref=ppx_pop_mob_ap_share

The Milliard Tri Folding Memory Foam Mattress works well in the Model Y. I've been using it with a memory foam topper.