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You'll need a factory fiberglass top.
I believe in the glovebox it says not to use a pickup style "camper" shell.
You can usually find the tops on Craigslist for around $100
There are a few CUCV shelters floating around for sale. But they don't fold down like a pop-up camper would. Or you could build your own, depending on how many amenities you're looking for.
I have considered camping in my blazer but have decided that I'm too tall to fit, until I find a front seat that folds out of the way...